Vision-Based Assisted Teleoperation for Inspection Tasks with a Small ROV

It is well-known that ROVs require human intervention to guarantee the success of their assignment, as well as the equipment safety. However, as its teleoperation is quite complex to perform, there is a need for assisted teleoperation. This study aims to take on this challenge by developing vision-based assisted teleoperation maneuvers, since a standard camera is present in any ROV. The proposed approach is a visual servoing solution, that allows the user to select between several standard image processing methods and is applied to a 3-DOF ROV. The most interesting characteristic of the presented system is the exclusive use of the camera data to improve the teleoperation of an underactuated ROV. It is demonstrated through the comparison and evaluation of standard implementations of different vision methods and the execution of simple maneuvers to acquire experimental results, that the teleoperation of a small ROV can be drastically improved without the need to install additional sensors.

Passive Fault-Tolerance Management in Component-based Embedded Systems

It is imperative to accept that failures can and will occur, even in meticulously designed distributed systems, and design proper measures to counter those failures. Passive replication minimises resource consumption by only activating redundant replicas in case of failures, as typically providing and applying state updates is less resource demanding than requesting execution. However, most existing solutions for passive fault tolerance are usually designed and configured at design time, explicitly and statically identifying the most critical components and their number of replicas, lacking the needed flexibility to handle the runtime dynamics of distributed component-based embedded systems. This paper proposes a cost-effective adaptive fault tolerance solution with a significant lower overhead compared to a strict active redundancy-based approach, achieving a high error coverage with the minimum amount of redundancy. The activation of passive replicas is coordinated through a feedback-based coordination model that reduces the complexity of the needed interactions among components until a new collective global service solution is determined, improving the overall maintainability and robustness of the system.

Use of a fluorescence-based approach to assess short-term responses of the alga Pseudokirchneriella subcapitata to metal stress

This work explores the use of fluorescent probes to evaluate the responses of the green alga Pseudokirchneriella subcapitata to the action of three nominal concentrations of Cd(II), Cr(VI), Cu(II) and Zn(II) for a short time (6 h). The toxic effect of the metals on algal cells was monitored using the fluorochromes SYTOX Green (SG, membrane integrity), fluorescein diacetate (FDA, esterase activity) and rhodamine 123 (Rh123, mitochondrial membrane potential). The impact of metals on chlorophyll a (Chl a) autofluorescence was also evaluated. Esterase activity was the most sensitive parameter. At the concentrations studied, all metals induced the loss of esterase activity. SG could be used to effectively detect the loss of membrane integrity in algal cells exposed to 0.32 or 1.3 μmol L−1 Cu(II). Rh123 revealed a decrease in the mitochondrial membrane potential of algal cells exposed to 0.32 and 1.3 μmol L−1 Cu(II), indicating that mitochondrial activity was compromised. Chl a autofluorescence was also affected by the presence of Cr(VI) and Cu(II), suggesting perturbation of photosynthesis. In conclusion, the fluorescence-based approach was useful for detecting the disturbance of specific cellular characteristics. Fluorescent probes are a useful diagnostic tool for the assessment of the impact of toxicants on specific targets of P. subcapitata algal cells.

Sectors and routes in solid waste collection

Collecting and transporting solid waste is a constant problem for municipalities and populations in general. Waste management should take into account the preservation of the environment and the reduction of costs. The goal with this paper is to address a real-life solid waste problem. The case reveals some general and specific characteristics which are not rare, but are not widely addressed in the literature. Furthermore, new methods and models to deal with sectorization and routing are introduced, which can be extended to other applications. Sectorization and routing are tackled following a two-phase approach. In the first phase, a new method is described for sectorization based on electromagnetism and Coulomb’s Law. The second phase addresses the routing problems in each sector. The paper addresses not only territorial division, but also the frequency with which waste is collected, which is a critical issue in these types of applications. Special characteristics related to the number and type of deposition points were also a motivation for this work. A new model for a Mixed Capacitated Arc Routing Problem with Limited Multi-Landfills is proposed and tested in real instances. The computational results achieved confirm the effectiveness of the entire approach.

Sectorization: measures and an electromagnetism based approach

Sectorization means dividing a set of basic units into sectors or parts, a procedure that occurs in several contexts, such as political, health and school districting, social networks and sales territory or airspace assignment, to achieve some goal or to facilitate an activity. This presentation will focus on three main issues: Measures, a new approach to sectorization problems and an application in waste collection. When designing or comparing sectors different characteristics are usually taken into account. Some are commonly used, and they are related to the concepts of contiguity, equilibrium and compactness. These fundamental characteristics will be addressed, by defining new generic measures and by proposing a new measure, desirability, connected with the idea of preference. A new approach to sectorization inspired in Coulomb’s Law, which establishes a relation of force between electrically charged points, will be proposed. A charged point represents a small region with specific characteristics/values creating relations of attraction/repulsion with the others (two by two), proportional to the charges and inversely proportional to their distance. Finally, a real case about sectorization and vehicle routing in solid waste collection will be mentioned.

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.

A Multiple Criteria Utility-based Approa h for the Unit Commitment with Wind Power and Pumped Storage Hydro

The integration of wind power in eletricity generation brings new challenges to unit commitment due to the random nature of wind speed. For this particular optimisation problem, wind uncertainty has been handled in practice by means of conservative stochastic scenario-based optimisation models, or through additional operating reserve settings. However, generation companies may have different attitudes towards operating costs, load curtailment, or waste of wind energy, when considering the risk caused by wind power variability. Therefore, alternative and possibly more adequate approaches should be explored. This work is divided in two main parts. Firstly we survey the main formulations presented in the literature for the integration of wind power in the unit commitment problem (UCP) and present an alternative model for the wind-thermal unit commitment. We make use of the utility theory concepts to develop a multi-criteria stochastic model. The objectives considered are the minimisation of costs, load curtailment and waste of wind energy. Those are represented by individual utility functions and aggregated in a single additive utility function. This last function is adequately linearised leading to a mixed-integer linear program (MILP) model that can be tackled by general-purpose solvers in order to find the most preferred solution. In the second part we discuss the integration of pumped-storage hydro (PSH) units in the UCP with large wind penetration. Those units can provide extra flexibility by using wind energy to pump and store water in the form of potential energy that can be generated after during peak load periods. PSH units are added to the first model, yielding a MILP model with wind-hydro-thermal coordination. Results showed that the proposed methodology is able to reflect the risk profiles of decision makers for both models. By including PSH units, the results are significantly improved.

Reabilitação cardíaca home-based monitorizada à distância por tecnologias de informação e comunicação: Uma revisão sistemática

Introdução: Cada vez mais a Reabilitação Cardíaca (RC) tem um início precoce no tratamento e nas necessidades do paciente no sentido de promover a sua autonomia e responsabilização pela recuperação, através de uma abordagem multidisciplinar. Os programas home-based e a inclusão das tecnologias de informação e comunicação são soluções atrativas para o aumento da participação dos doentes selecionados e inclusão de grupos de doentes atualmente sub-representados. Objetivos: Sistematizar a evidência científica atual sobre a efetividade dos programas de reabilitação cardíaca home-based com controlo á distância através da aplicação de novas tecnologias, comparando-a com a reabilitação centre-based/hospital-based, ao nível da adesão e da atividade física. Métodos: Este trabalho consiste numa revisão sistemática da literatura publicada entre 2007 e 2014, através de uma pesquisa em diferentes bases de dados eletrónicas científicas (Elsevier – Science Direct, PEDro, PubMed, Scielo Portugal e B-on) com as palavras-chave: reabilitação cardíaca, home-based, centre-based, hospital-based, reabilitação exercise-based, telemonitorização, smartphone, internet, atividade física, em todas as combinações possíveis. Os estudos foram analisados independentemente por dois revisores quanto aos critérios de inclusão e qualidade dos estudos. Resultados: Dos 101 estudos identificados, apenas dez foram incluídos. Considerando a escala da PEDro, quatro estudos obtiveram um score 5, quatro, um score de 6, e 2 com um score de 7 em 10. Os estudos foram realizados em adultos com idades compreendidas entre os 18 e os 80 anos. Os programas de intervenção dividiram-se em planeamento de atividade física e em autogestão. Todos os programas de exercício físico conduziram a um aumento da capacidade de exercício e consequente, maior controlo de fatores de risco. Pelos níveis de adesão aos PRC home-based e pelos resultados positivos de diferentes parâmetros em relação a reabilitação centre-based/hospital-based é notável a efetividade da telemonitorização baseada em casa. Conclusão: A telemonitorização domiciliária constitui um elemento fundamental para a solução de numerosos problemas destes doentes, tornando-se em métodos simples e de fácil funcionamento para haver sucesso nas taxas de adesão. Com efeito, a utilização das tecnologias de informação e de comunicação permite uma prestação e gestão eficazes dos cuidados de saúde no domicílio.

Adaptive Game Design Study of a fully adaptive framework

Adventure! The Paladin Order foi um projecto ambicioso que começou por ser desenvolvido como um video jogo completo. Tinha como objéctivo implementar uma ferramenta diferente que permitisse tornar o jogo completamente adaptativo às decisões do jogador tanto nas interacções e no diálogo com outras personagens, assim como no combate contra os variados inímigos do jogo. Devido à inexperiência do autor uma grande parte do tempo foi passado a estudar e a pesquisar várias possíveis soluções que permitissem criar um ambiente que fosse adaptativo de uma forma simples e interessante, não só para os programadores mas também para qualquer pessoa que fosse responsável por editar o diálogo e a história do jogo. Os resultados foram bastante interessantes, revelando um sistema que depende simultaneamente dos ficheiros de onde é retirado o diálogo, e de um sistema de personalidades que permite definir qual será o comportamento de qualquer objecto do jogo ou, pelo menos, como as outras personagens irão reagir. O produto final é uma ferramenta de bases sólidas que permite uma implementação relativamente simples de um sistema abrangente e adaptativo, com poucas falhas e apenas algumas questões de simplicidade de código.

Relatório de estágio em Ensino do 1.º Ciclo do Ensino Básico

Relatório E1CEB - Relatório de estágio em Ensino do 1.º Ciclo do Ensino Básico: Atualmente, a sociedade encontra-se em constante mutação, pelo que urge formar profissionais de educação capazes de responder aos seus desafios, assim como formar cidadãos críticos e responsáveis e estimular a sua participação ativa na sociedade. Desta forma e, no âmbito das unidades curriculares (UC) de Prática Pedagógica Supervisionada na Educação Pré – Escolar e no 1º Ciclo do Ensino Básico (CEB), parte integrante dos 1.º e 2.º anos do Mestrado em Educação Pré-Escolar e Ensino do 1.º CEB, respetivamente, surge o presente relatório que apresenta o processo de desenvolvimento pessoal e profissional da mestranda. Assim, o presente documento pretende ser uma reflexão crítica sobre o processo formativo da formanda, revelando mobilização de conhecimentos teóricos e práticos e uma metodologia construtivista de Investigação – ação, que sustentou as práticas educativas e permitiu um conhecimento sólido e sustentável. Realça, ainda, o desenvolvimento da prática em díade de formação que estimulou o crescimento e a reconstrução de novos conhecimentos enriquecidos por uma reflexão sistemática e contínua. Este trabalho colaborativo promoveu um ambiente educativo profundo, significativo e agradável, contribuindo para a formação individual e coletiva dos vários intervenientes do contexto educativo. Acresce que, ao longo das práticas, a mestranda teve em consideração tudo o que foi aprendendo e desenvolvendo nas diversas UC’s, construindo a sua conceção de educadora e de professora, num contexto relacional e de consciência reflexiva que permitiu uma formação articulada com a ação pedagógica e organizacional, a partir da experiência e transformação dos saberes, eixos fundamentais para a profissionalidade docente.