Development of advanced human robot interaction systems

O trabalho aqui apresentado é a Dissertação da minha Tese do curso de Mestrado em Engenharia Eletrotécnica e de Computadores do ISEP, realizada em parceria com o INESC TEC. O trabalho consiste no desenvolvimento de um sistema avançado de interação entre homem-robô, usando ferramentas de software livres e de domínio público e hardware pouco dispendioso e facilmente acessível. Pretende-se que o sistema desenvolvido possa ser adotado por pequenas ou micro empresas, daí a restrição monetária. Este tipo de empresas tem, por norma, uma capacidade de investimento pequena, e ficam impossibilitadas de aceder a este tipo de sistemas automatizados se estes forem caros. No entanto, o robô continua a ser um componente fundamental, sendo dispendioso. Os trabalhos realizados pelos sistemas robóticos podem por um lado, ser repetitivos sem necessidade de grandes ajustes; por outro lado, o trabalho a realizar pode ser bastante diverso, sendo necessários bastantes ajustes com (possivelmente) programação do robô. As empresas podem não ter disponível mão-de-obra qualificada para realização da programação do robô. Pretende-se então um sistema de “ensino” que seja simples e rápido. Este trabalho pretende satisfazer as necessidades de um sistema de interação homem-robô intuitivo mesmo para operadores que não estejam familiarizados com a robótica. Para simplificar a transferência de informação da tarefa a desempenhar pelo sistema robótico é usado um sistema de infravermelhos para delinear a operação a desempenhar, neste caso concreto uma operação de soldadura. O operador usa um apontador com marcadores, a posição destes marcadores é detetada usando duas câmaras para permitir o posicionamento tridimensional no espaço. As câmaras possuem filtros infravermelhos para separar o espectro de luz. Para o controlo do sistema e interface com o robô é usado um computador de baixos recursos computacionais e energéticos, e também de baixo custo. O sistema desenvolvido é portanto computacionalmente leve para poder ser executado neste computador.

Scheduling in holonic manufacturing systems

This chapter presents some of the issues with holonic manufacturing systems. It starts by presenting the current manufacturing scenario and trends and then provides some background information on the holonic concept and its application to manufacturing. The current limitations and future trends of manufacturing suggest more autonomous and distributed organisations for manufacturing systems; holonic manufacturing systems are proposed as a way to achieve such autonomy and decentralisation. After a brief literature survey a specific research work is presented to handle scheduling in holonic manufacturing systems. This work is based on task and resource holons that cooperate with each other based on a variant of the contract net protocol that allow the propagation of constraints between operations in the execution plan. The chapter ends by presenting some challenges and future opportunities of research.

A framework for the development of parallel and distributed real-time embedded systems

Embedded real-time applications increasingly present high computation requirements, which need to be completed within specific deadlines, but that present highly variable patterns, depending on the set of data available in a determined instant. The current trend to provide parallel processing in the embedded domain allows providing higher processing power; however, it does not address the variability in the processing pattern. Dimensioning each device for its worst-case scenario implies lower average utilization, and increased available, but unusable, processing in the overall system. A solution for this problem is to extend the parallel execution of the applications, allowing networked nodes to distribute the workload, on peak situations, to neighbour nodes. In this context, this report proposes a framework to develop parallel and distributed real-time embedded applications, transparently using OpenMP and Message Passing Interface (MPI), within a programming model based on OpenMP. The technical report also devises an integrated timing model, which enables the structured reasoning on the timing behaviour of these hybrid architectures.

Software transactional memory as a building block for parallel embedded realtime systems

The recent trends of chip architectures with higher number of heterogeneous cores, and non-uniform memory/non-coherent caches, brings renewed attention to the use of Software Transactional Memory (STM) as a fundamental building block for developing parallel applications. Nevertheless, although STM promises to ease concurrent and parallel software development, it relies on the possibility of aborting conflicting transactions to maintain data consistency, which impacts on the responsiveness and timing guarantees required by embedded real-time systems. In these systems, contention delays must be (efficiently) limited so that the response times of tasks executing transactions are upper-bounded and task sets can be feasibly scheduled. In this paper we assess the use of STM in the development of embedded real-time software, defending that the amount of contention can be reduced if read-only transactions access recent consistent data snapshots, progressing in a wait-free manner. We show how the required number of versions of a shared object can be calculated for a set of tasks. We also outline an algorithm to manage conflicts between update transactions that prevents starvation.

System Level Simulation and Radio Resource Management for Distributed Antenna Systems with Cognitive Radio and Multi-Cell Cooperation

4th International Conference on Future Generation Communication Technologies (FGCT 2015), Luton, United Kingdom.

TURTLE: Systems and technologies for deep ocean long term presence

This paper describes the TURTLE project that aim to develop sub-systems with the capability of deep-sea long-term presence. Our motivation is to produce new robotic ascend and descend energy efficient technologies to be incorporated in robotic vehicles used by civil and military stakeholders for underwater operations. TURTLE contribute to the sustainable presence and operations in the sea bottom. Long term presence on sea bottom, increased awareness and operation capabilities in underwater sea and in particular on benthic deeps can only be achieved through the use of advanced technologies, leading to automation of operation, reducing operational costs and increasing efficiency of human activity.

Learning management systems usage on higher education institutions

Learning Management Systems (LMS) are used all over Higher Education Institutions (HEI) and the need to know and understand its adoption and usage arises. However, there is a lack of information about how LMSs are being used, which are the most adopted, whether there is a country adoption standard and which countries use more LMSs. A research team is developing a project that tries to fill this lack of information and provide the needed answers. With this purpose, on a first phase, it a survey was taken place. The results of this survey are presented in this paper. Another purpose of this paper is to disseminate the ongoing project.

An architecture for an effective usage of data mining in business intelligence systems

Business Intelligence (BI) is one emergent area of the Decision Support Systems (DSS) discipline. Over the last years, the evolution in this area has been considerable. Similarly, in the last years, there has been a huge growth and consolidation of the Data Mining (DM) field. DM is being used with success in BI systems, but a truly DM integration with BI is lacking. Therefore, a lack of an effective usage of DM in BI can be found in some BI systems. An architecture that pretends to conduct to an effective usage of DM in BI is presented.

Planificação de um sistema de informação para a unidade de formação contínua e avançada da Escola Superior de Educação do Instituto Politécnico do Porto

Projecto apresentado ao Instituto Superior de Contabilidade e Administração do Porto para a obtenção do Grau de Mestre em Assessoria de Administração

Knowledge and technologies in innovative information systems

7th Mediterranean Conference on Information Systems, MCIS 2012, Guimaraes, Portugal, September 8-10, 2012, Proceedings Series: Lecture Notes in Business Information Processing, Vol. 129

Organization knowledge management change from a complex adaptive systems perpective with ability for ambidexeterity

We are working on the confluence of knowledge management, organizational memory and emergent knowledge with the lens of complex adaptive systems. In order to be fundamentally sustainable organizations search for an adaptive need for managing ambidexterity of day-to-day work and innovation. An organization is an entity of a systemic nature, composed of groups of people who interact to achieve common objectives, making it necessary to capture, store and share interactions knowledge with the organization, this knowledge can be generated in intra-organizational or inter-organizational level. The organizations have organizational memory of knowledge of supported on the Information technology and systems. Each organization, especially in times of uncertainty and radical changes, to meet the demands of the environment, needs timely and sized knowledge on the basis of tacit and explicit. This sizing is a learning process resulting from the interaction that emerges from the relationship between the tacit and explicit knowledge and which we are framing within an approach of Complex Adaptive Systems. The use of complex adaptive systems for building the emerging interdependent relationship, will produce emergent knowledge that will improve the organization unique developing.

The immediate effects of atlanto-occipital joint manipulation and suboccipital muscle inhibition technique on active mouth opening and pressure pain sensitivity over latent myofascial trigger points in the masticatory muscles

DESIGN: A randomized controlled trial.OB JECTIVE: To investigate the immediate effects on pressure pain thresholds over latent trigger points (TrPs) in the masseter and temporalis muscles and active mouth opening following atlanto-occipital joint thrust manipulation or a soft tissue manual intervention targeted to the suboccipital muscles. BACKGROUND : Previous studies have described hypoalgesic effects of neck manipulative interventions over TrPs in the cervical musculature. There is a lack of studies analyzing these mechanisms over TrPs of muscles innervated by the trigeminal nerve. METHODS: One hundred twenty-two volunteers, 31 men and 91 women, between the ages of 18 and 30 years, with latent TrPs in the masseter muscle, were randomly divided into 3 groups: a manipulative group who received an atlanto-occipital joint thrust, a soft tissue group who received an inhibition technique over the suboccipital muscles, and a control group who did not receive an intervention. Pressure pain thresholds over latent TrPs in the masseter and temporalis muscles, and active mouth opening were assessed pretreatment and 2 minutes posttreatment by a blinded assessor. Mixed-model analyses of variance (ANOVA) were used to examine the effects of interventions on each outcome, with group as the between-subjects variable and time as the within-subjects variable. The primary analysis was the group-by-time interaction. RESULTS: The 2-by-3 mixed-model ANOVA revealed a significant group-by-time interaction for changes in pressure pain thresholds over masseter (P<.01) and temporalis (P =.003) muscle latent TrPs and also for active mouth opening (P<.001) in favor of the manipulative and soft tissue groups. Between-group effect sizes were small. CONCLUSIONS: The application of an atlanto-occipital thrust manipulation or soft tissue technique targeted to the suboccipital muscles led to an immediate increase in pressure pain thresholds over latent TrPs in the masseter and temporalis muscles and an increase in maximum active mouth opening. Nevertheless, the effects of both interventions were small and future studies are required to elucidate the clinical relevance of these changes. LEVEL OF EVIDENCE : Therapy, level 1b. J Orthop Sports Phys Ther 2010;40(5):310-317. doi:10.2519/jospt.2010.3257. KEYWORDSDS: cervical manipulation, muscle trigger points, neck, TMJ, upper cervical.

Multi-criteria short-term maintenance outage scheduling in smart distribution systems

Effective legislation and standards for the coordination procedures between consumers, producers and the system operator supports the advances in the technologies that lead to smart distribution systems. In short-term (ST) maintenance scheduling procedure, the energy producers in a distribution system access to the long-term (LT) outage plan that is released by the distribution system operator (DSO). The impact of this additional information on the decision-making procedure of producers in ST maintenance scheduling is studied in this paper. The final ST maintenance plan requires the approval of the DSO that has the responsibility to secure the network reliability and quality, and other players have to follow the finalized schedule. Maintenance scheduling in the producers’ layer and the coordination procedure between them and the DSO is modelled in this paper. The proposed method is applied to a 33-bus distribution system.

Self-optimization for dynamic scheduling in manufacturing systems

Scheduling is a critical function that is present throughout many industries and applications. A great need exists for developing scheduling approaches that can be applied to a number of different scheduling problems with significant impact on performance of business organizations. A challenge is emerging in the design of scheduling support systems for manufacturing environments where dynamic adaptation and optimization become increasingly important. In this paper, we describe a Self-Optimizing Mechanism for Scheduling System through Nature Inspired Optimization Techniques (NIT).

Energy efficiency analysis considering the use of an intelligent systems management in a smart home

In this abstract is presented an energy management system included in a SCADA system existent in a intelligent home. The system control the home energy resources according to the players definitions (electricity consumption and comfort levels), the electricity prices variation in real time mode and the DR events proposed by the aggregators.