Complex evolution of a multi-particle system

This paper studies a discrete dynamical system of interacting particles that evolve by interacting among them. The computational model is an abstraction of the natural world, and real systems can range from the huge cosmological scale down to the scale of biological cell, or even molecules. Different conditions for the system evolution are tested. The emerging patterns are analysed by means of fractal dimension and entropy measures. It is observed that the population of particles evolves towards geometrical objects with a fractal nature. Moreover, the time signature of the entropy can be interpreted at the light of complex dynamical systems.

Analysis of the respiratory dynamics during normal breathing by means of pseudo phase plots and pressure-volume loops

This paper reports on the analysis of tidal breathing patterns measured during noninvasive forced oscillation lung function tests in six individual groups. The three adult groups were healthy, with prediagnosed chronic obstructive pulmonary disease, and with prediagnosed kyphoscoliosis, respectively. The three children groups were healthy, with prediagnosed asthma, and with prediagnosed cystic fibrosis, respectively. The analysis is applied to the pressure–volume curves and the pseudophaseplane loop by means of the box-counting method, which gives a measure of the area within each loop. The objective was to verify if there exists a link between the area of the loops, power-law patterns, and alterations in the respiratory structure with disease. We obtained statistically significant variations between the data sets corresponding to the six groups of patients, showing also the existence of power-law patterns. Our findings support the idea that the respiratory system changes with disease in terms of airway geometry and tissue parameters, leading, in turn, to variations in the fractal dimension of the respiratory tree and its dynamics.

A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.

Is multidimensional scaling suitable for mapping the input respiratory impedance in subjects and patients?

This paper presents the application of multidimensional scaling (MDS) analysis to data emerging from noninvasive lung function tests, namely the input respiratory impedance. The aim is to obtain a geometrical mapping of the diseases in a 3D space representation, allowing analysis of (dis)similarities between subjects within the same pathology groups, as well as between the various groups. The adult patient groups investigated were healthy, diagnosed chronic obstructive pulmonary disease (COPD) and diagnosed kyphoscoliosis, respectively. The children patient groups were healthy, asthma and cystic fibrosis. The results suggest that MDS can be successfully employed for mapping purposes of restrictive (kyphoscoliosis) and obstructive (COPD) pathologies. Hence, MDS tools can be further examined to define clear limits between pools of patients for clinical classification, and used as a training aid for medical traineeship.

A fractional approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.

Using a cohesive damage model to predict the tensile behaviour of CFRP single-strap repairs

This work addresses both experimental and numerical analyses regarding the tensile behaviour of CFRP single-strap repairs. Two fundamental geometrical parameters were studied: overlap length and patch thickness. The numerical model used ABAQUS® software and a developed cohesive mixed-mode damage model adequate for ductile adhesives, and implemented within interface finite elements. Stress analyses and strength predictions were carried out. Experimental and numerical comparisons were performed on failure modes, failure load and equivalent stiffness of the repair. Good correlation was found between experimental and numerical results, showing that the proposed model can be successfully applied to bonded joints or repairs.

An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable control of redundant manipulators, and avoiding the joint angle drift problem. Computer simulations performed based on redundant and hyper-redundant planar manipulators show that, when the end-effector traces a closed path in the workspace, the robot returns to its initial configuration. The solution is repeatable for a workspace with and without obstacles in the sense that, after executing several cycles, the initial and final states of the manipulator are very close.

Analysis of the Respiratory Dynamics During Normal Breathing by Means of Pseudophase Plots and Pressure–Volume Loops

This paper reports on the analysis of tidal breathing patterns measured during noninvasive forced oscillation lung function tests in six individual groups. The three adult groups were healthy, with prediagnosed chronic obstructive pulmonary disease, and with prediagnosed kyphoscoliosis, respectively. The three children groups were healthy, with prediagnosed asthma, and with prediagnosed cystic fibrosis, respectively. The analysis is applied to the pressure-volume curves and the pseudophase-plane loop by means of the box-counting method, which gives a measure of the area within each loop. The objective was to verify if there exists a link between the area of the loops, power-law patterns, and alterations in the respiratory structure with disease. We obtained statistically significant variations between the data sets corresponding to the six groups of patients, showing also the existence of power-law patterns. Our findings support the idea that the respiratory system changes with disease in terms of airway geometry and tissue parameters, leading, in turn, to variations in the fractal dimension of the respiratory tree and its dynamics.

Caracterização física e química de fíleres para fabrico de misturas betuminosas

Mestrado em Engenharia Geotécnica e Geoambiente

Sequencing cutting patterns with colored interval graphs

The problem addressed here originates in the industry of flat glass cutting and wood panel sawing, where smaller items are cut from larger items accordingly to predefined cutting patterns. In this type of industry the smaller pieces that are cut from the patterns are piled around the machine in stacks according to the size of the pieces, which are moved to the warehouse only when all items of the same size have been cut. If the cutting machine can process only one pattern at a time, and the workspace is limited, it is desirable to set the sequence in which the cutting patterns are processed in a way to minimize the maximum number of open stacks around the machine. This problem is known in literature as the minimization of open stacks (MOSP). To find the best sequence of the cutting patterns, we propose an integer programming model, based on interval graphs, that searches for an appropriate edge completion of the given graph of the problem, while defining a suitable coloring of its vertices.

Estudo e Projeto de Reabilitação dos Acessos aos Parques Eólicos da Iberwind

A Iberwind recebeu o aluno estagiário para a realização de um projeto de consultoria técnica focada nos acessos dos seus 31 parques eólicos presentes no território nacional. É apresentada a empresa, bem como todo o processo de construção e desenvolvimento de parques eólicos. O presente relatório de estágio foca-se, maioritariamente, na reabilitação de acessos a parques eólicos, debruçando-se sobre as especialidades de terraplenagens, drenagem e pavimentação, bem como as condicionantes geométricas. Verifica-se que com o passar dos anos, após a construção dos primeiros empreendimentos, começa a denotar-se a deterioração dos acessos aos mesmos. É, por isso, relevante e significativo o trabalho realizado no âmbito do estágio, por forma a avaliar as diversas necessidades de reabilitação e manutenção dos acessos a apresentar soluções globais. O levantamento de campo realizado cobriu todo o portefólio da empresa e documentou a totalidade das patologias relacionadas com as especialidades de pavimentação e drenagem. Executaram-se visitas a todos os parques, acompanhadas pelos operadores dos mesmos, e aliaram-se às mesmas entrevistas aos supervisores de zona com o intuito de aglomerar informação e contextualizar a problemática. Realizou-se uma proposta de reabilitação dos acessos em piores condições, o que levou à adjudicação da obra e acompanhamento de alguns trabalhos por parte do autor no presente ano. O trabalho realizado e detalhadamente documentado permitiu a criação de uma metodologia de inspeção e manutenção a ser implementada nos parques eólicos do grupo, de forma a reduzir custos e otimizar recursos a longo prazo. A metodologia consiste, de forma sintetizada, na inspecção periódica dos acessos de cada parque pelas equipas de campo e a definição das necessidades prioritárias de manutenção e reabilitação dos mesmos de maneira independente.

Processo de cálculo automático de colunas mistas

Este relatório é elaborado no âmbito do estágio curricular no regime de parceria entre o Instituto Superior de Engenharia do Porto e o gabinete de projetos SE2P – Sociedade de Engenharia, Projetos e Planeamento, Lda. O tema do estágio é o estudo de colunas mistas aço-betão na vertente de projeto, mais concretamente através da criação dum processo de cálculo automático integrado com o modelo estrutural global. Aplicam-se os métodos de dimensionamento dos eurocódigos estruturais na avaliação da segurança dos estados limites. Avaliam-se as propriedades geométricas, determina-se a curva de interação, calcula-se a posição do eixo neutro donde se inferem os estados de tensão em flexão desviada ao nível da secção, necessários às verificações de segurança. O processo de cálculo tem por base uma folha de cálculo desenvolvida em Excel que, com ajuda do Visual Basic for Applications, comunica com o software de modelação e cálculo estrutural Autodesk Robot Professional Analisys. Cria-se fluxos de informação que possibilitam o cálculo iterativo de colunas mistas permitindo ajustar e por esta via otimizar as soluções de dimensionamento. A exportação de relatórios de cálculo detalhados para cada coluna constitui uma mais-valia para gabinetes de engenharia quando comparada com outras soluções de dimensionamento existentes no mercado. A aplicação do processo de cálculo desenvolvido a múltiplas combinações de soluções de colunas mistas permitiu analisar comparativamente os resultados obtidos e a criação de tabelas e ábacos que poderão ser úteis em cenários de pré-dimensionamento e de anteprojeto.