Estrutura a partir do Movimento em Sistemas Autónomos

Mestrado em Engenharia Electrotécnica e de Computadores - Ramo de Sistemas Autónomos

Sistema de visão para percepção e navegação de um UAV Quadrotor

Mestrado em Engenharia Electrotécnica e de Computadores

The Persistence of Memory

This paper analyzes several natural and man-made complex phenomena in the perspective of dynamical systems. Such phenomena are often characterized by the absence of a characteristic length-scale, long range correlations and persistent memory, which are features also associated to fractional order systems. For each system, the output, interpreted as a manifestation of the system dynamics, is analyzed by means of the Fourier transform. The amplitude spectrum is approximated by a power law function and the parameters are interpreted as an underlying signature of the system dynamics. The complex systems under analysis are then compared in a global perspective in order to unveil and visualize hidden relationships among them.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.

Implementation of an IoT-based Sensor Network Integrating IoT-based Sensor Networks with Large-Scale Message Distribution

As technology advances not only do new standards and programming styles appear but also some of the previously established ones gain relevance. In a new Internet paradigm where interconnection between small devices is key to the development of new businesses and scientific advancement there is the need to find simple solutions that anyone can implement in order to allow ideas to become more than that, ideas. Open-source software is still alive and well, especially in the area of the Internet of Things. This opens windows for many low capital entrepreneurs to experiment with their ideas and actually develop prototypes, which can help identify problems with a project or shine light on possible new features and interactions. As programming becomes more and more popular between people of fields not related to software there is the need for guidance in developing something other than basic algorithms, which is where this thesis comes in: A comprehensive document explaining the challenges and available choices of developing a sensor data and message delivery system, which scales well and implements the delivery of critical messages. Modularity and extensibility were also given much importance, making this an affordable tool for anyone that wants to build a sensor network of the kind.

O Impacto do project finance nas empresas portuguesas no setor têxtil

Dissertação para a obtenção do Grau de Mestre em Contabilidade e Finanças Orientador: Mestre Adalmiro Álvaro Malheiro de Castro Andrade Pereira

The Past, Polish politics of memory, and stereotyping: an intercultural perspective

The main idea of the article is to consider the interdependence between Politics of Memory (as a type of narrating the Past) and Stereotyping. The author suggests that, in a time of information revolution, we are still constructing images of others on the basis of simplification, overestimation of association between features, and illusory correlations, instead of basing them on knowledge and personal contact. The Politics of Memory, national remembrance, and the historical consciousness play a significant role in these processes, because – as the author argues – they transform historically based 'symbolic analogies' into 'illusory correlations' between national identity and the behavior of its members. To support his theoretical investigation, the author presents results of his draft experiment and two case studies: (a) a social construction of images of neighbors based on Polish narrations about the Past; and (b) various processes of stereotyping based on the Remembrance of the Holocaust. All these considerations lead him to state that the Politics of Memory should be recognized as an influential source of commonly shared stereotypes on other cultures and nations.

PPO Reaction Scale-up

O óxido de polifenileno com a marca comercial PPO® é uma das resinas principais produzidas na SABIC IP e o ingrediente principal do plástico de engenharia com a marca registada, Noryl®. A equipa de tecnologia de processo de PPO® desenvolve uma série de novos produtos em reactores de pequena escala, tanto em Selkirk como em Bergen op Zoom. Para se efectuar uma transição rápida da escala laboratorial para a fábrica, é necessário um conhecimento completo do reactor. O objectivo deste projecto consiste em esboçar linhas gerais para o scale-up de novos produtos de PPO1, do laboratório para a escala industrial, baseado no estudo de um tipo de PPO, PPO 803. Este estudo pode ser dividido em duas fases. Numa primeira fase, as receitas e os perfis da reacção são comparados, de onde se retiram as primeiras conclusões. Posteriormente, com base nestas conclusões, é realizado um planeamento experimental. O estudo inicial sugeriu que a receita, a temperatura inicial do reactor e a velocidade do agitador poderiam influenciar o tempo da reacção bem como a queda da velocidade intrínseca do polímero (IV drop). As reacções experimentais mostraram que a receita é o principal factor que influencia, tanto o tempo de reacção, como a queda de viscosidade intrínseca. O tempo de reacção será tanto maior quanto menor a agitação devido à má dispersão do oxigénio na mistura. O uso de temperaturas iniciais elevadas conduz a uma queda maior da viscosidade intrínseca devido à desactivação do catalisador. O método experimental utilizado no laboratório de Bergen op Zoom é um bom exemplo, simulador, do procedimento utilizado na fábrica.

On local fractional continuous wavelet transform

We introduce a new wavelet transform within the framework of the local fractional calculus. An illustrative example of local fractional wavelet transform is also presented.

A power line communication stack for metering, SCADA and large-scale domotic applications

This paper describes the communication stack of the REMPLI system: a structure using power-lines and IPbased networks for communication, for data acquisition and control of energy distribution and consumption. It is furthermore prepared to use alternative communication media like GSM or analog modem connections. The REMPLI system provides communication service for existing applications, namely automated meter reading, energy billing and domotic applications. The communication stack, consisting of physical, network, transport, and application layer is described as well as the communication services provided by the system. We show how the peculiarities of the power-line communication influence the design of the communication stack, by introducing requirements to efficiently use the limited bandwidth, optimize traffic and implement fair use of the communication medium for the extensive communication partners.

Application of continuous wavelet transform to the analysis of the modulus of the fractional Fourier transform bands for resolving two component mixture

In this paper, the fractional Fourier transform (FrFT) is applied to the spectral bands of two component mixture containing oxfendazole and oxyclozanide to provide the multicomponent quantitative prediction of the related substances. With this aim in mind, the modulus of FrFT spectral bands are processed by the continuous Mexican Hat family of wavelets, being denoted by MEXH-CWT-MOFrFT. Four modulus sets are obtained for the parameter a of the FrFT going from 0.6 up to 0.9 in order to compare their effects upon the spectral and quantitative resolutions. Four linear regression plots for each substance were obtained by measuring the MEXH-CWT-MOFrFT amplitudes in the application of the MEXH family to the modulus of the FrFT. This new combined powerful tool is validated by analyzing the artificial samples of the related drugs, and it is applied to the quality control of the commercial veterinary samples.

Analysis of financial indices by means of the windowed Fourier transform

The goal of this study is to analyze the dynamical properties of financial data series from nineteen worldwide stock market indices (SMI) during the period 1995–2009. SMI reveal a complex behavior that can be explored since it is available a considerable volume of data. In this paper is applied the window Fourier transform and methods of fractional calculus. The results reveal classification patterns typical of fractional order systems.