Dynamical modelling of a genetic algorithm

This work addresses the signal propagation and the fractional-order dynamics during the evolution of a genetic algorithm (GA). In order to investigate the phenomena involved in the GA population evolution, the mutation is exposed to excitation perturbations during some generations and the corresponding fitness variations are evaluated. Three distinct fitness functions are used to study their influence in the GA dynamics. The input and output signals are studied revealing a fractional-order dynamic evolution, characteristic of a long-term system memory.

Fractional order electromagnetics

The Maxwell equations constitute a formalism for the development of models describing electromagnetic phenomena. The four Maxwell laws have been adopted successfully in many applications and involve only the integer order differential calculus. Recently, a closer look for the cases of transmission lines, electrical motors and transformers, that reveal the so-called skin effect, motivated a new perspective towards the replacement of classical models by fractional-order mathematical descriptions. Bearing these facts in mind this paper addresses the concept of static fractional electric potential. The fractional potential was suggested some years ago. However, the idea was not fully explored and practical methods of implementation were not proposed. In this line of thought, this paper develops a new approximation algorithm for establishing the fractional order electrical potential and analyzes its characteristics.

Sistema de auto calibração visual para robots do ISePorto, baseado em EKF

Os sistemas de perceção existentes nos robôs autónomos, hoje em dia, são bastante complexos. A informação dos vários sensores, existentes em diferentes partes do robôs, necessitam de estar relacionados entre si face ao referencial do robô ou do mundo. Para isso, o conhecimento da atitude (posição e rotação) entre os referenciais dos sensores e o referencial do robô é um fator critico para o desempenho do mesmo. O processo de calibração dessas posições e translações é chamado calibração dos parâmetros extrínsecos. Esta dissertação propõe o desenvolvimento de um método de calibração autónomo para robôs como câmaras direcionais, como é o caso dos robôs da equipa ISePorto. A solução proposta consiste na aquisição de dados da visão, giroscópio e odometria durante uma manobra efetuada pelo robô em torno de um alvo com um padrão conhecido. Esta informação é então processada em conjunto através de um Extended Kalman Filter (EKF) onde são estimados necessários para relacionar os sensores existentes no robô em relação ao referencial do mesmo. Esta solução foi avaliada com recurso a vários testes e os resultados obtidos foram bastante similares aos obtidos pelo método manual, anteriormente utilizado, com um aumento significativo em rapidez e consistência.

Levantamento elétrico e análise de equipamento para acabamento térmico e químico de telas para pneus

Esta dissertação surge da necessidade da empresa Continental - Indústria Têxtil do Ave S.A. – grupo Continental Mabor atualizar os esquemas elétricos de uma máquina para acabamento térmico e químico de telas para pneus. Esta máquina (Zell) é crucial no seu processo produtivo e foi ao longo dos anos sofrendo sucessivas atualizações no sentido de melhorar o seu processo de produção. Existiam já, esquemas elétricos da máquina realizados em EPLAN no entanto não foram acompanhando as sucessivas alterações sofridas pela mesma. Deste modo, torna-se assim necessário não só produzir um suporte digital desses mesmos esquemas como também proceder à sua atualização. Ao longo desta dissertação o leitor pode obter informações relativas à Zell e ao processo de análise, estudo e documentação dos seus quadros elétricos em software EPLAN Electric P8. São ainda abordadas técnicas de leitura e desenho em EPLAN e descritas algumas das funcionalidade que este permite. É abordada a base de dados criada com informações relativas à máquina tais como características dos seus motores, variadores de frequência e localização dos quadros elétricos ao longo dos pisos que a compõe. No âmbito desta dissertação foi redigido o “Manual da Máquina de Impregnar Zell” e neste relatório abordam-se os principais tópicos que o compõe. Com a atualização dos esquemas tornou-se necessário proceder à identificação de diversos componentes na máquina. Esse processo de identificação é também aqui retratado. O leitor pode por fim obter informações de como realizar um processo de troca de variadores de frequência da marca ABB de diferentes gamas tendo em consideração as ligações em causa para o fazer. Pretende-se assim que o leitor fique com uma noção geral das diferentes vertentes que foram abordadas neste trabalho realizado sob a forma de um estágio com duração de seis meses no seio desta indústria.

A metodologia BIM-FM aplicada a um caso prático

O crescente aumento da consciencialização da importância da fase de operação e manutenção, bem como a amplificação que a metodologia Building Information Modelling (BIM) tem obtido nos últimos anos, sugere uma necessidade de alterar a atual abordagem da gestão das instalações de forma a dotá-la das mais recentes inovações tecnológicas como seja a utilização do BIM. Os Building Information Models apresentam as características ideais para a integração da gestão das instalações, não só pela visualização do edifício, mas sobretudo pela potencialidade que a base de dados oferece, com informação referente a cada um dos componentes presentes e suas relações. O âmbito deste trabalho envolve assim a integração da gestão das instalações com o modelo BIM criado, representativo do edifício em estudo. Este trabalho começa com as definições do âmbito e dos objetivos que são propostos no Capítulo 1. No Capítulo 2, é elaborada uma pesquisa sobre o estado da arte atual de cada uma das metodologias BIM e FM, de forma a tomar conhecimento dos seus conceitos principais. Foi feito também um levantamento no campo do BIM-FM de forma a apurar as atuais soluções tecnológicas existentes, a forma como é feita a sua troca de informação e também alguns casos em que esta metodologia foi aplicada. Com base na informação recolhida sobre as metodologias e também nos casos práticos estudados, é realizado no Capítulo 3, capítulo central deste trabalho, a aplicação prática. A realização desta aplicação é dividida por 3 fases principais. Numa primeira fase é especificada e recolhida a informação necessária de ser obtida para a realização do modelo e a posterior aplicação do FM. A escolha da informação a recolher é feita ponderando todos os fatores existentes, mas de forma a cumprir os requisitos pedidos. Numa segunda fase, assente na compilação de informação recolhida anteriormente, realiza-se o modelo do edifício. A modelação, de forma a seguir o método de trabalho BIM é realizada por especialidades, sendo numa primeira fase realizada a especialidade de arquitetura e posteriormente, utilizando esse modelo como base, é feita a modelação das especialidades de águas, águas residuais, AVAC e eletricidade. Esta escolha foi também estimulada pela organização do software utilizado para a modelação, por módulos. Na última fase da aplicação do caso prático a informação inserida na fase de modelação do edifício é exportada para o software de FM, neste caso em específico, o IBM Maximo. Para a exportação destes dados foi utilizado o formato Construction Operations Building Information Exchange (COBie), de forma a garantir a integridade e conformidade da informação transferida. No Capítulo 4 deste trabalho são abordadas as especificidades relativas à informação existente, à modelação e à troca de dados entre o software de modelação e o software utilizado na gestão do edifício. São também sugeridos alguns temas para futuros desenvolvimentos com o intuito de ampliação dos campos de FM com o uso do modelo. O BIM-FM é um tema emergente na atualidade do BIM, sendo a sua utilização encarada como uma mais-valia ao processo BIM. A compilação da informação durante a fase de projeto e execução, aliada à existência do modelo torna a implementação do FM com o modelo BIM como uma sequência natural.

Navegação de robôs móveis por marcas artificiais em ambientes semi-estruturados

Mestrado em engenharia electrotécnica e de computadores - Área de Especialização de Sistemas Autónomos

Saving energy in the GFRP pultrusion process

This study addresses to the optimization of pultrusion manufacturing process from the energy-consumption point of view. The die heating system of external platen heaters commonly used in the pultrusion machines is one of the components that contribute the most to the high consumption of energy of pultrusion process. Hence, instead of the conventional multi-planar heaters, a new internal die heating system that leads to minor heat losses is proposed. The effect of the number and relative position of the embedded heaters along the die is also analysed towards the setting up of the optimum arrangement that minimizes both the energy rate and consumption. Simulation and optimization processes were greatly supported by Finite Element Analysis (FEA) and calibrated with basis on the temperature profile computed through thermography imaging techniques. The main outputs of this study allow to conclude that the use of embedded cylindrical resistances instead of external planar heaters leads to drastic reductions of both the power consumption and the warm-up periods of the die heating system. For the analysed die tool and process, savings on energy consumption up to 60% and warm-up period stages less than an half hour were attained with the new internal heating system. The improvements achieved allow reducing the power requirements on pultrusion process, and thus minimize industrial costs and contribute to a more sustainable pultrusion manufacturing industry.

Processo de internacionalização das filiais portuguesas de construção civil para Angola: alguns estudos de caso (Mota-Engil, Soares da Costa e Conduril)

Dissertação apresentada no Instituto Superior de Contabilidade e Administração do Instituto Politécnico do Porto para obtenção do Grau de Mestre em Empreendedorismo e Internacionalização Orientador: Professor Doutor José de Freitas Santos

Knowledge management in multinational companies: the repatriates’ role in the competitive advantage in subsidiaries

This paper addresses the topic of knowledge management in multinational companies (MNCs). Its purpose is to examine the role of expatriates in knowledge acquisition and transfer within MNCs. Specifically it focuses on knowledge acquisition and transfer from one MNC head office located in Germany to two Portuguese subsidiaries as a basis for competitive advantage in their Portuguese subsidiaries. A qualitative research methodology is used, specifically through an exploratory case study approach, which examines how international assignments are important for the role of expatriates In knowledge acquisition and transfer between foreign head offices and their Portuguese subsidiaries. The data were collected through semi structured interviews to 10 Portuguese repatriates from two Portuguese subsidiaries of one foreign MNC. The findings suggest that the reasons that lead to expatriating employees from Portuguese subsidiaries to foreign head offices are connected to (1) knowledge management strategies to development the subsidiary’s performance; (2) new skills and knowledge acquisition by future team leaders and business/product managers in Portuguese subsidiaries; (3) procuring knowledge, from agents in head office, to be disseminated amongst co-workers in Portuguese subsidiaries; (4) acquiring global management skills, impossible to acquire locally and; (5) developing global projects within MNC. Also our results show that knowledge acquisition and transfer from foreign head office, through subsidiaries’ expatriates, contributes directly to the Portuguese subsidiaries’ innovation, improved performance, competitive advantage and growth in the economic sectors in which they operate. Moreover, evidence reveals that expatriation is seen as a strategy to fulfil some of the main organisational objectives through their expatriates (e.g., create new products and business markets, develop and incorporate new organisational techniques and processes, integrate global teams within multinational corporation with a responsibility on the definition of global objectives). The results obtained suggest that expatriates have a central role in acquiring and transferring strategic knowledge from MNC head office to their subsidiaries located in Portugal. Based on the findings, the paper discusses in detail the main theoretical and managerial implications. Suggestions for further research are also presented. The study’s main limitation is the small size of the sample, but its findings and methodology are quite original and significant.

The Port as a “Non Consensual” Organisation: An IC Management Perspective

This paper addresses a gap in the literature concerning the management of Intellectual Capital (IC) in a port, which is a network of independent organizations that act together in the provision of a set of services. As far as the authors are aware, this type of empirical context has been unexplored when regarding knowledge management or IC creation/destruction. Indeed, most research in IC still focus on individual firms, despite the more recent interest placed on the analysis of macro-level units such as regions or nations. In this study, we conceptualise the port as meta-organisation, which has the generic goal of economic development, both for itself and for the region where it is located. It provides us with a unique environment due to its complexity as an “organisation” composed by several organisations, connected by interdependency relationships and, typically, with no formal hierarchy. Accordingly, actors’ interests are not always aligned and in some situations their individual interests can be misaligned with the collective goals of the port. Moreover, besides having their own interests, port actors also have different sources of influence and different levels of power, which can impact on the port’s Collective Intellectual Capital (CIC). Consequently, the management of the port’s CIC can be crucial in order for its goals to be met. With this paper we intend to discuss how the network coordinator (the port authority) manages those complex relations of interest and power in order to develop collaboration and mitigate conflict, thus creating collective intellectual assets or avoiding intellectual liabilities that may emerge for the whole port. The fact that we are studying complex and dynamic processes, about which there is a lack of understanding, in a complex and atypical organisation, leads us to consider the case study as an appropriate method of research. Evidence presented in this study results from preliminary interviews and also from document analysis. Findings suggest that alignment of interests and actions, at both dyadic and networking levels, is critical to develop a context of collaboration/cooperation within the port community and, accordingly, the port coordinator should make use of different types of power in order to ensure that port’s goals are achieved.

Evaluation of the Electric Vehicle Impact in the Power Demand Curve in a Smart Grid Environment

Smart grids with an intensive penetration of distributed energy resources will play an important role in future power system scenarios. The intermittent nature of renewable energy sources brings new challenges, requiring an efficient management of those sources. Additional storage resources can be beneficially used to address this problem; the massive use of electric vehicles, particularly of vehicle-to-grid (usually referred as gridable vehicles or V2G), becomes a very relevant issue. This paper addresses the impact of Electric Vehicles (EVs) in system operation costs and in power demand curve for a distribution network with large penetration of Distributed Generation (DG) units. An efficient management methodology for EVs charging and discharging is proposed, considering a multi-objective optimization problem. The main goals of the proposed methodology are: to minimize the system operation costs and to minimize the difference between the minimum and maximum system demand (leveling the power demand curve). The proposed methodology perform the day-ahead scheduling of distributed energy resources in a distribution network with high penetration of DG and a large number of electric vehicles. It is used a 32-bus distribution network in the case study section considering different scenarios of EVs penetration to analyze their impact in the network and in the other energy resources management.

A physical packing sequence algorithm for the container loading problem with static mechanical equilibrium conditions

The container loading problem (CLP) is a combinatorial optimization problem for the spatial arrangement of cargo inside containers so as to maximize the usage of space. The algorithms for this problem are of limited practical applicability if real-world constraints are not considered, one of the most important of which is deemed to be stability. This paper addresses static stability, as opposed to dynamic stability, looking at the stability of the cargo during container loading. This paper proposes two algorithms. The first is a static stability algorithm based on static mechanical equilibrium conditions that can be used as a stability evaluation function embedded in CLP algorithms (e.g. constructive heuristics, metaheuristics). The second proposed algorithm is a physical packing sequence algorithm that, given a container loading arrangement, generates the actual sequence by which each box is placed inside the container, considering static stability and loading operation efficiency constraints.

Identity and belonging in the novels of Dorn Rabinovici

This essay analyses how the different types of memory may influence the process of identity formation. It shall be argued that not only memories formed upon the subject’s experiences play a key role in this process; intermediated, received narratives from the past, memories transmitted either symbolically or by elder members of the group, or, what has been meanwhile termed as “postmemory”, also play an important part in the development of an individual’s identitary map. This theoretical framework will be illustrated with the novelistic work of Austrian Israeli-born historian, writer and political activist Doron Rabinovici (*1961). As a representative of the so-called “second generation” of Holocaust writers, a generation of individuals who did not experience the nazi genocide violence, but who had to form their identities under the shadow of such a brutal past, Rabinovici addresses essential topics such as the intergenerational transmission of memory and guilt within survivor families, identity formation of second generation individuals (Jews and non-Jews) and the question of simultaneously belonging to different social, historical and linguistic contexts.

Reliable and Fast Hand-Offs in Low-Power Wireless Networks

Hand-off (or hand-over), the process where mobile nodes select the best access point available to transfer data, has been well studied in wireless networks. The performance of a hand-off process depends on the specific characteristics of the wireless links. In the case of low-power wireless networks, hand-off decisions must be carefully taken by considering the unique properties of inexpensive low-power radios. This paper addresses the design, implementation and evaluation of smart-HOP, a hand-off mechanism tailored for low-power wireless networks. This work has three main contributions. First, it formulates the hard hand-off process for low-power networks (such as typical wireless sensor networks - WSNs) with a probabilistic model, to investigate the impact of the most relevant channel parameters through an analytical approach. Second, it confirms the probabilistic model through simulation and further elaborates on the impact of several hand-off parameters. Third, it fine-tunes the most relevant hand-off parameters via an extended set of experiments, in a realistic experimental scenario. The evaluation shows that smart-HOP performs well in the transitional region while achieving more than 98 percent relative delivery ratio and hand-off delays in the order of a few tens of a milliseconds.

Numerical analysis of the initial conditions in fractional systems

Fractional dynamics is a growing topic in theoretical and experimental scientific research. A classical problem is the initialization required by fractional operators. While the problem is clear from the mathematical point of view, it constitutes a challenge in applied sciences. This paper addresses the problem of initialization and its effect upon dynamical system simulation when adopting numerical approximations. The results are compatible with system dynamics and clarify the formulation of adequate values for the initial conditions in numerical simulations.