Improvement of a filters method in a derivative free optimization

Constraints nonlinear optimization problems can be solved using penalty or barrier functions. This strategy, based on solving the problems without constraints obtained from the original problem, have shown to be e ective, particularly when used with direct search methods. An alternative to solve the previous problems is the lters method. The lters method introduced by Fletcher and Ley er in 2002, , has been widely used to solve problems of the type mentioned above. These methods use a strategy di erent from the barrier or penalty functions. The previous functions de ne a new one that combine the objective function and the constraints, while the lters method treat optimization problems as a bi-objective problems that minimize the objective function and a function that aggregates the constraints. Motivated by the work of Audet and Dennis in 2004, using lters method with derivative-free algorithms, the authors developed works where other direct search meth- ods were used, combining their potential with the lters method. More recently. In a new variant of these methods was presented, where it some alternative aggregation restrictions for the construction of lters were proposed. This paper presents a variant of the lters method, more robust than the previous ones, that has been implemented with a safeguard procedure where values of the function and constraints are interlinked and not treated completely independently.

Filters method in direct search optimization, new measures to admissibility

Constrained nonlinear optimization problems are usually solved using penalty or barrier methods combined with unconstrained optimization methods. Another alternative used to solve constrained nonlinear optimization problems is the lters method. Filters method, introduced by Fletcher and Ley er in 2002, have been widely used in several areas of constrained nonlinear optimization. These methods treat optimization problem as bi-objective attempts to minimize the objective function and a continuous function that aggregates the constraint violation functions. Audet and Dennis have presented the rst lters method for derivative-free nonlinear programming, based on pattern search methods. Motivated by this work we have de- veloped a new direct search method, based on simplex methods, for general constrained optimization, that combines the features of the simplex method and lters method. This work presents a new variant of these methods which combines the lters method with other direct search methods and are proposed some alternatives to aggregate the constraint violation functions.

Optimal fuzzy PID control tuned with genetic algorithms

Fuzzy logic controllers (FLC) are intelligent systems, based on heuristic knowledge, that have been largely applied in numerous areas of everyday life. They can be used to describe a linear or nonlinear system and are suitable when a real system is not known or too difficult to find their model. FLC provide a formal methodology for representing, manipulating and implementing a human heuristic knowledge on how to control a system. These controllers can be seen as artificial decision makers that operate in a closed-loop system, in real time. The main aim of this work was to develop a single optimal fuzzy controller, easily adaptable to a wide range of systems – simple to complex, linear to nonlinear – and able to control all these systems. Due to their efficiency in searching and finding optimal solution for high complexity problems, GAs were used to perform the FLC tuning by finding the best parameters to obtain the best responses. The work was performed using the MATLAB/SIMULINK software. This is a very useful tool that provides an easy way to test and analyse the FLC, the PID and the GAs in the same environment. Therefore, it was proposed a Fuzzy PID controller (FL-PID) type namely, the Fuzzy PD+I. For that, the controller was compared with the classical PID controller tuned with, the heuristic Ziegler-Nichols tuning method, the optimal Zhuang-Atherton tuning method and the GA method itself. The IAE, ISE, ITAE and ITSE criteria, used as the GA fitness functions, were applied to compare the controllers performance used in this work. Overall, and for most systems, the FL-PID results tuned with GAs were very satisfactory. Moreover, in some cases the results were substantially better than for the other PID controllers. The best system responses were obtained with the IAE and ITAE criteria used to tune the FL-PID and PID controllers.

Self-optimization module for scheduling using case-based reasoning

Metaheuristics performance is highly dependent of the respective parameters which need to be tuned. Parameter tuning may allow a larger flexibility and robustness but requires a careful initialization. The process of defining which parameters setting should be used is not obvious. The values for parameters depend mainly on the problem, the instance to be solved, the search time available to spend in solving the problem, and the required quality of solution. This paper presents a learning module proposal for an autonomous parameterization of Metaheuristics, integrated on a Multi-Agent System for the resolution of Dynamic Scheduling problems. The proposed learning module is inspired on Autonomic Computing Self-Optimization concept, defining that systems must continuously and proactively improve their performance. For the learning implementation it is used Case-based Reasoning, which uses previous similar data to solve new cases. In the use of Case-based Reasoning it is assumed that similar cases have similar solutions. After a literature review on topics used, both AutoDynAgents system and Self-Optimization module are described. Finally, a computational study is presented where the proposed module is evaluated, obtained results are compared with previous ones, some conclusions are reached, and some future work is referred. It is expected that this proposal can be a great contribution for the self-parameterization of Metaheuristics and for the resolution of scheduling problems on dynamic environments.

Modelo de previsão meteorológica baseado em sistemas de inferência difusa

Mestrado em Engenharia Electrotécnica e de Computadores

Natural organic matter fractionation along the treatment of water for human consumption

The main objective of this study was to characterize the organic matter present in raw water and along the treatment process, as well as its seasonal variation. A natural organic matter fractionation approach has been applied to Lever water treatment plant located in Douro River, in Oporto (Portugal). The process used was based on the sorption of dissolved organic matter in different types of ion exchange resins, DAX-8, DAX-4 and IRA-958, allowing its separation into four fractions: very hydrophobic acids (VHA), slightly hydrophobic acids (SHA), charged hydrophilic (CHA) and hydrophilic neutral (NEU). The dissolved organic carbon (DOC) determination was used to quantify dissolved organic matter. Samples were collected monthly, during approximately one year, from raw water captured at the surface and under the bed of the river, and after each step of the treatment: pre-filtration in sand/anthracite filters, ozonation, coagulation/flocculation, counter current dissolved air flotation and filtration (CoCoDAFF) and chlorination. The NEU fraction showed a seasonal variation, with maximum values in autumn for the sampling points corresponding to raw water captured at the surface and under the bed of the river. It was usually the predominating fraction and did not show a significant decrease throughout the treatment. Nevertheless their low concentration, the same occurred for the CHA and VHA fractions. There was an overall decrease in the SHA fraction throughout the water treatment (especially after CoCoDAFF and ozonation) as well as in the DOC. The TSUVA254 values obtained for raw water generally varied between 2.0 and 4.0 L mgC-1 m-1 and between 0.75 and 1.78 L mgC-1 m-1 for treated water. It was observed a decrease of TSUVA values along the treatment, especially after ozonation. These results may contribute to a further optimization in the process of treating water for human consumption.

Sistema de treino para ciclistas

No trabalho é desenvolvido um sistema de treino para ciclistas. O sistema de treino é constituído por uma bicicleta de ―Spinning‖, um travão accionado electricamente, e por um sensor de velocidade, utilizado para medir a velocidade de rotação da roda de inércia. Nos primeiros capítulos encontra-se o estudo dos vários conceitos que envolvem o sistema de treino. É realizado um estudo sobre as principais forças que actuam numa bicicleta. Outro conceito estudado é o filtro Kalman (FK). Este será importante para o controlo do sistema de treino. O modelo do sistema de treino está dividido em duas partes. A primeira corresponde ao sistema mecânico, e a segunda o sistema de controlo e actuação. Este é constituído por um sensor de velocidade, uma unidade de estimação e o sistema de actuação do travão da bicicleta. A unidade de estimação é composta por conjunto de filtros de Kalman que estima a velocidade, a aceleração e a posição necessárias ao cálculo da força resistente ao movimento do conjunto ciclista bicicleta. Os resultados da simulação do sistema mostram que o sistema de treino modelado apresenta um desempenho bastante razoável. A estimação efectuada pelos filtros dos valores da velocidade, da aceleração e da posição do ciclista, permite a unidade de controlo do sistema calcular o valor da força resistente ao movimento.

Avaliação do desempenho energético e da qualidade do ar de uma piscina coberta

Este trabalho teve como propósito fazer uma avaliação do desempenho energético e da qualidade do ar no interior das instalações de uma Piscina Municipal Coberta, localizada na zona norte de Portugal, sendo estabelecidos os seguintes objetivos: caracterização geral da piscina, no que respeita aos seus diferentes espaços e equipamentos, cálculo dos consumos térmicos e elétricos bem como o registo das concentrações de elementos poluentes para controlo da qualidade do ar no interior da piscina, tendo como base a legislação atualmente em vigor. A caracterização geral da piscina permitiu verificar algumas inconformidades como a temperatura da água nos tanques de natação que tem valores superiores aos recomendados e a sala de primeiros socorros que não possui acesso direto ao exterior. Acrescente-se que o pavimento nos chuveiros da casa de banho feminina e os valores de pH para água do tanque grande e pequeno não estão sempre dentro da gama de recomendação. O caudal da renovação de ar está a ser operado manualmente e quando está a funcionar a 50% da sua capacidade máxima, que acontece numa parte do dia, apenas consegue renovar 77,5% do caudal recomendado pelo RSECE. Para se obter o valor recomendado é necessário ter pelo menos 7 horas com o caudal a 100% da capacidade máxima. A avaria na UTA2 originou que 40% dos registos diários da humidade relativa interior estivessem fora da gama de valores recomendados e que esta é fortemente dependente da humidade no exterior e pode ser agravada quando as portas dos envidraçados da nave são abertas. Analisando ainda a quantidade de água removida na desumidificação do ar com a água evaporada em condições de Outono-Inverno ou Primavera-Verão, este estudo permitiu concluir que todas as combinações demonstraram a necessidade de desumidificação salvo a combinação Outono-Inverno e UTA2 a funcionar a 100% da sua capacidade máxima. Os isolamentos das tubagens na sala das caldeiras foram observados e comparados com as soluções recomendadas pelas empresas especialistas e verificou-se que alguns estão mal colocados com parcial ou total degradação, promovendo perdas térmicas. No caso das perdas calorificas por evaporação, estas representaram cerca de 67,78% das perdas totais. Como tal, estudou-se a aplicação de uma cobertura sobre o plano de água durante o período de inatividade da piscina (8 horas) e verificou-se que o resultado seria uma poupança de 654,8 kWh/dia, na ausência de evaporação da água, mais 88,00 kWh/dia do período da UTA2 a funcionar a 50% da sua capacidade, perfazendo um total de 742,8 kWh/dia. A aplicação da cobertura permite obter um VAL de valor positivo, uma TIR de 22,77% e sendo este valor superior ao WACC (Weight Average Cost of Capital), o projeto torna-se viável com um Pay-Back de 3,17 anos. Caracterizou-se também o consumo total diário em eletricidade, e verificou-se que as unidades de climatização, as bombas de circulação de água, a iluminação, e outros equipamentos representam, respetivamente, cerca de 67,81, 25,26, 2,68 e 3,91% da energia elétrica total consumida. Por fim, a análise à qualidade do ar no interior da nave em Maio e Setembro identificou que as concentrações de ozono apresentavam valores no limite do aceitável em Maio e superiores ao valor de emissão em Setembro. Os compostos orgânicos voláteis também apresentavam valores em Maio 4,98 vezes superior e em Setembro 6,87 vezes superior aos valores máximos exigidos pelo D.L. nº 79/2006. Houve ainda altas concentrações de radão registadas na casa dos filtros, em Maio com um valor 11,49 vezes superior, no entanto esse valor desceu em Setembro para 1,08 vezes, mesmo assim superior ao exigido pelo D.L. nº 79/2006.

PAH air pollution at a Portuguese urban area: carcinogenic risks and sources identification

This study aimed to characterize air pollution and the associated carcinogenic risks of polycyclic aromatic hydrocarbon (PAHs) at an urban site, to identify possible emission sources of PAHs using several statistical methodologies, and to analyze the influence of other air pollutants and meteorological variables on PAH concentrations.The air quality and meteorological data were collected in Oporto, the second largest city of Portugal. Eighteen PAHs (the 16 PAHs considered by United States Environment Protection Agency (USEPA) as priority pollutants, dibenzo[a,l]pyrene, and benzo[j]fluoranthene) were collected daily for 24 h in air (gas phase and in particles) during 40 consecutive days in November and December 2008 by constant low-flow samplers and using polytetrafluoroethylene (PTFE) membrane filters for particulate (PM10 and PM2.5 bound) PAHs and pre-cleaned polyurethane foam plugs for gaseous compounds. The other monitored air pollutants were SO2, PM10, NO2, CO, and O3; the meteorological variables were temperature, relative humidity, wind speed, total precipitation, and solar radiation. Benzo[a]pyrene reached a mean concentration of 2.02 ngm−3, surpassing the EU annual limit value. The target carcinogenic risks were equal than the health-based guideline level set by USEPA (10−6) at the studied site, with the cancer risks of eight PAHs reaching senior levels of 9.98×10−7 in PM10 and 1.06×10−6 in air. The applied statistical methods, correlation matrix, cluster analysis, and principal component analysis, were in agreement in the grouping of the PAHs. The groups were formed according to their chemical structure (number of rings), phase distribution, and emission sources. PAH diagnostic ratios were also calculated to evaluate the main emission sources. Diesel vehicular emissions were the major source of PAHs at the studied site. Besides that source, emissions from residential heating and oil refinery were identified to contribute to PAH levels at the respective area. Additionally, principal component regression indicated that SO2, NO2, PM10, CO, and solar radiation had positive correlation with PAHs concentrations, while O3, temperature, relative humidity, and wind speed were negatively correlated.

Fractional order modelling of fractional-order holds

Discrete time control systems require sample- and-hold circuits to perform the conversion from digital to analog. Fractional-Order Holds (FROHs) are an interpolation between the classical zero and first order holds and can be tuned to produce better system performance. However, the model of the FROH is somewhat hermetic and the design of the system becomes unnecessarily complicated. This paper addresses the modelling of the FROHs using the concepts of Fractional Calculus (FC). For this purpose, two simple fractional-order approximations are proposed whose parameters are estimated by a genetic algorithm. The results are simple to interpret, demonstrating that FC is a useful tool for the analysis of these devices.

Coordinated transportation of a large object by a team of three robots

Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

Coordinated transportation of a large object by a team of two robots

In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.

Using attractor dynamics to generate decentralized motion control of two mobile robots transporting a long object in coordination

Dynamical systems theory is used here as a theoretical language and tool to design a distributed control architecture for a team of two mobile robots that must transport a long object and simultaneously avoid obstacles. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables (heading direction and path velocity). The environment is also modeled in these terms by representing task constraints as attractors (i.e. asymptotically stable states) or reppelers (i.e. unstable states) of behavioral dynamics. For each robot attractors and repellers are combined into a vector field that governs the behavior. The resulting dynamical systems that generate the behavior of the robots may be nonlinear. By design the systems are tuned so that the behavioral variables are always very close to one attractor. Thus the behavior of each robot is controled by a time series of asymptotically stable states. Computer simulations support the validity of our dynamic model architectures.

RSS and LEA adaptation for indoor location using fingerprinting

Fingerprinting is an indoor location technique, based on wireless networks, where data stored during the offline phase is compared with data collected by the mobile device during the online phase. In most of the real-life scenarios, the mobile node used throughout the offline phase is different from the mobile nodes that will be used during the online phase. This means that there might be very significant differences between the Received Signal Strength values acquired by the mobile node and the ones stored in the Fingerprinting Map. As a consequence, this difference between RSS values might contribute to increase the location estimation error. One possible solution to minimize these differences is to adapt the RSS values, acquired during the online phase, before sending them to the Location Estimation Algorithm. Also the internal parameters of the Location Estimation Algorithms, for example the weights of the Weighted k-Nearest Neighbour, might need to be tuned for every type of terminal. This paper focuses both approaches, using Direct Search optimization methods to adapt the Received Signal Strength and to tune the Location Estimation Algorithm parameters. As a result it was possible to decrease the location estimation error originally obtained without any calibration procedure.

Exploiting sensor redundancy for the calculation of fractional derivatives in the presence of noise

In this paper a new method for the calculation of the fractional expressions in the presence of sensor redundancy and noise, is presented. An algorithm, taking advantage of the signal characteristics and the sensor redundancy, is tuned and optimized through genetic algorithms. The results demonstrate the good performance for different types of expressions and distinct levels of noise.