Haptic robot-environment interaction for self-supervised learning in ground mobility

Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores

Characterization and surface reconstruction of objects in tomographic images of composite materials

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Heterogeneous computing with an algorithmic skeleton framework

The Graphics Processing Unit (GPU) is present in almost every modern day personal computer. Despite its specific purpose design, they have been increasingly used for general computations with very good results. Hence, there is a growing effort from the community to seamlessly integrate this kind of devices in everyday computing. However, to fully exploit the potential of a system comprising GPUs and CPUs, these devices should be presented to the programmer as a single platform. The efficient combination of the power of CPU and GPU devices is highly dependent on each device’s characteristics, resulting in platform specific applications that cannot be ported to different systems. Also, the most efficient work balance among devices is highly dependable on the computations to be performed and respective data sizes. In this work, we propose a solution for heterogeneous environments based on the abstraction level provided by algorithmic skeletons. Our goal is to take full advantage of the power of all CPU and GPU devices present in a system, without the need for different kernel implementations nor explicit work-distribution.To that end, we extended Marrow, an algorithmic skeleton framework for multi-GPUs, to support CPU computations and efficiently balance the work-load between devices. Our approach is based on an offline training execution that identifies the ideal work balance and platform configurations for a given application and input data size. The evaluation of this work shows that the combination of CPU and GPU devices can significantly boost the performance of our benchmarks in the tested environments, when compared to GPU-only executions.

Constraint reasoning with local search for continuous optimization

Optimization is a very important field for getting the best possible value for the optimization function. Continuous optimization is optimization over real intervals. There are many global and local search techniques. Global search techniques try to get the global optima of the optimization problem. However, local search techniques are used more since they try to find a local minimal solution within an area of the search space. In Continuous Constraint Satisfaction Problems (CCSP)s, constraints are viewed as relations between variables, and the computations are supported by interval analysis. The continuous constraint programming framework provides branch-and-prune algorithms for covering sets of solutions for the constraints with sets of interval boxes which are the Cartesian product of intervals. These algorithms begin with an initial crude cover of the feasible space (the Cartesian product of the initial variable domains) which is recursively refined by interleaving pruning and branching steps until a stopping criterion is satisfied. In this work, we try to find a convenient way to use the advantages in CCSP branchand- prune with local search of global optimization applied locally over each pruned branch of the CCSP. We apply local search techniques of continuous optimization over the pruned boxes outputted by the CCSP techniques. We mainly use steepest descent technique with different characteristics such as penalty calculation and step length. We implement two main different local search algorithms. We use “Procure”, which is a constraint reasoning and global optimization framework, to implement our techniques, then we produce and introduce our results over a set of benchmarks.

Heritages, Identities, and Policy in the Metropolitan Area of Lisbon

In a world that has moved away from narratives based on the idea of progress, the past has established itself as a place of reference: confirming to ourselves that what we were is indispensible for sustaining what we think we are. The recovery of the past is thus one of the most common symbolic instruments used in negotiating identities. The cultural practices that have recourse to representation mechanisms that call on the past in order to consider the present always end up translating themselves, insofar as they fragment, reorganize and interpret it in their transformation, or, to use a formula that has become unavoidable, in their “invention”. Patrimonialization is one such practice. It associates the notion of heritage – which is not a given fact, but rather a socially constructed classification, and therefore one that is constantly being negotiated – with specific objects that come to serve as cultural representations of the groups who consider themselves to be their rightful owners. In the Lisbon Metropolitan Area, as in other ethnographic contexts, patrimonialization encompasses things as diverse as landscapes, monuments, popular architecture, handicrafts, local feast days/processions/pilgrimages and people; all things that can, once transformed into material representations of the past, serve as arguments for the identity fictions of the people who inhabit them.

Towards an algorithmic skeleton framework for programming the Intel R Xeon PhiTM processor

The Intel R Xeon PhiTM is the first processor based on Intel’s MIC (Many Integrated Cores) architecture. It is a co-processor specially tailored for data-parallel computations, whose basic architectural design is similar to the ones of GPUs (Graphics Processing Units), leveraging the use of many integrated low computational cores to perform parallel computations. The main novelty of the MIC architecture, relatively to GPUs, is its compatibility with the Intel x86 architecture. This enables the use of many of the tools commonly available for the parallel programming of x86-based architectures, which may lead to a smaller learning curve. However, programming the Xeon Phi still entails aspects intrinsic to accelerator-based computing, in general, and to the MIC architecture, in particular. In this thesis we advocate the use of algorithmic skeletons for programming the Xeon Phi. Algorithmic skeletons abstract the complexity inherent to parallel programming, hiding details such as resource management, parallel decomposition, inter-execution flow communication, thus removing these concerns from the programmer’s mind. In this context, the goal of the thesis is to lay the foundations for the development of a simple but powerful and efficient skeleton framework for the programming of the Xeon Phi processor. For this purpose we build upon Marrow, an existing framework for the orchestration of OpenCLTM computations in multi-GPU and CPU environments. We extend Marrow to execute both OpenCL and C++ parallel computations on the Xeon Phi. We evaluate the newly developed framework, several well-known benchmarks, like Saxpy and N-Body, will be used to compare, not only its performance to the existing framework when executing on the co-processor, but also to assess the performance on the Xeon Phi versus a multi-GPU environment.

Incremental compilation and deployment for OutSystems Platform

OutSystems Platform is used to develop, deploy, and maintain enterprise web an mobile web applications. Applications are developed through a visual domain specific language, in an integrated development environment, and compiled to a standard stack of web technologies. In the platform’s core, there is a compiler and a deployment service that transform the visual model into a running web application. As applications grow, compilation and deployment times increase as well, impacting the developer’s productivity. In the previous model, a full application was the only compilation and deployment unit. When the developer published an application, even if he only changed a very small aspect of it, the application would be fully compiled and deployed. Our goal is to reduce compilation and deployment times for the most common use case, in which the developer performs small changes to an application before compiling and deploying it. We modified the OutSystems Platform to support a new incremental compilation and deployment model that reuses previous computations as much as possible in order to improve performance. In our approach, the full application is broken down into smaller compilation and deployment units, increasing what can be cached and reused. We also observed that this finer model would benefit from a parallel execution model. Hereby, we created a task driven Scheduler that executes compilation and deployment tasks in parallel. Our benchmarks show a substantial improvement of the compilation and deployment process times for the aforementioned development scenario.

Instrumental Fado: a generative interactive system

Fado was listed as UNESCO Intangible Cultural Heritage in 2011. This dissertation describes a theoretical model, as well as an automatic system, able to generate instrumental music based on the musics and vocal sounds typically associated with fado’s practice. A description of the phenomenon of fado, its musics and vocal sounds, based on ethnographic, historical sources and empirical data is presented. The data includes the creation of a digital corpus, of musical transcriptions, identified as fado, and statistical analysis via music information retrieval techniques. The second part consists in the formulation of a theory and the coding of a symbolic model, as a proof of concept, for the automatic generation of instrumental music based on the one in the corpus.

Decisions of technology innovation: the role of indicators

This work presents research conducted to understand the role of indicators in decisions of technology innovation. A gap was detected in the literature of innovation and technology assessment about the use and influence of indicators in this type of decision. It was important to address this gap because indicators are often frequent elements of innovation and technology assessment studies. The research was designed to determine the extent of the use and influence of indicators in decisions of technology innovation, to characterize the role of indicators in these decisions, and to understand how indicators are used in these decisions. The latter involved the test of four possible explanatory factors: the type and phase of decision, and the context and process of construction of evidence. Furthermore, it focused on three Portuguese innovation groups: public researchers, business R&D&I leaders and policymakers. The research used a combination of methods to collect quantitative and qualitative information, such as surveys, case studies and social network analysis. This research concluded that the use of indicators is different from their influence in decisions of technology innovation. In fact, there is a high use of indicators in these decisions, but lower and differentiated differences in their influence in each innovation group. This suggests that political-behavioural methods are also involved in the decisions to different degrees. The main social influences in the decisions came mostly from hierarchies, knowledge-based contacts and users. Furthermore, the research established that indicators played mostly symbolic roles in decisions of policymakers and business R&D&I leaders, although their role with researchers was more differentiated. Indicators were also described as helpful instruments to conduct a reasonable interpretation of data and to balance options in innovation and technology assessments studies, in particular when contextualised, described in detail and with discussion upon the options made. Results suggest that there are four main explanatory factors for the role of indicators in these decisions: First, the type of decision appears to be a factor to consider when explaining the role of indicators. In fact, each type of decision had different influences on the way indicators are used, and each type of decision used different types of indicators. Results for policy-making were particularly different from decisions of acquisition and development of products/technology. Second, the phase of the decision can help to understand the role indicators play in these decisions. Results distinguished between two phases detected in all decisions – before and after the decision – as well as two other phases that can be used to complement the decision process and where indicators can be involved. Third, the context of decision is an important factor to consider when explaining the way indicators are taken into consideration in policy decisions. In fact, the role of indicators can be influenced by the particular context of the decision maker, in which all types of evidence can be selected or downplayed. More importantly, the use of persuasive analytical evidence appears to be related with the dispute existent in the policy context. Fourth and last, the process of construction of evidence is a factor to consider when explaining the way indicators are involved in these decisions. In fact, indicators and other evidence were brought to the decision processes according to their availability and capacity to support the different arguments and interests of the actors and stakeholders. In one case, an indicator lost much persuasion strength with the controversies that it went through during the decision process. Therefore, it can be argued that the use of indicators is high but not very influential; their role is mostly symbolic to policymakers and business decisions, but varies among researchers. The role of indicators in these decisions depends on the type and phase of the decision and the context and process of construction of evidence. The latter two are related to the particular context of each decision maker, the existence of elements of dispute and controversies that influence the way indicators are introduced in the decision-making process.

A maritimidade portuguesa : a extensão da plataforma continental

As potencialidades da plataforma continental estendida são enormes e variadas, desde as que podem ser obtidas através de sectores tradicionais – como portos e marinas ou turismo náutico – até as que advirão de novos sectores como a exploração dos fundos do mar ou a energia das ondas, entre outras. Com efeito, devido ao alargamento resultante das negociações nas Nações Unidas, é praticamente garantido que Portugal passe a controlar um espaço marítimo, acrescido de 2.1 milhões de km2, isto é, vinte vezes a extensão da sua superfície terrestre. A maritimidade de Portugal constitui um traço profundamente marcado na sua história, bem como nas suas tradicionais práticas económicas, sociais e simbólicas. Na verdade, os últimos anos testemunharam a criação de um amplo consenso quanto ao papel determinante que o desenvolvimento costeiro, a superfície e o comprimento dos limites do “Mar Português” terá no futuro do país. Da articulação entre o Território Nacional, o Oceano Atlântico e o Continente Europeu, associada à confluência das vias de comunicação marítimas que ligam a Europa à América do Norte e do Sul configurar-e-ão os aspectos essenciais do designado “Espaço Estratégico de Interesse Nacional Permanente”. A área geográfica prioritária para o desenvolvimento das acções militares de Defesa Nacional e dos interesses vitais permanentes inclui assim – para além do Território Nacional – o Espaço Interterritorial, o Mar Territorial (MT), o espaço aéreo sob responsabilidade nacional e a Zona Económica Exclusiva (ZEE). O País é titular de soberania no território continental e nos arquipélagos da Madeira dos Açores, para além de estar comprometido com alguns Estados da CPLP, que têm no Atlântico Sul uma importante e poderosa presença. Pela geografia e pela definição dos interesses dos Estados e dos grandes espaços em que estão incluídos, Portugal está na articulação da segurança do Atlântico Norte com a segurança do Atlântico Sul. Esta realidade acarreta novos desafios para a Defesa Nacional, assumindo como preocupações acrescidas o terrorismo, o tráfico e a pirataria marítimas, entre outras.

A importância dos média e da língua de acolhimento na integração de imigrantes. Estudos de caso : a comunidade nepalesa de Portugal e a comunidade portuguesa em Macau

Esta pesquisa foca-se na comunidade imigrante portuguesa em Macau e na comunidade imigrante nepalesa em Portugal. Analisa os usos dos média – étnicos, mainstream e transnacionais - por imigrantes durante o processo de integração: na manutenção de laços com o país de origem e na adaptação à sociedade de acolhimento, em que a língua de acolhimento assume um papel crucial. A investigação enquadra-se nos estudos de audiências e baseia-se na teoria dos Usos e Gratificações dos Média (Katz, Blumler, & Gurevitch, 1974). No que respeita à integração assenta no modelo de estratégias de aculturação de Berry & Sam (2001, 2006). Quanto à língua, assenta na teoria do poder e da prática de Bourdieu (1991), especificamente na parte relativa ao poder simbólico da língua. Quanto à metodologia, foram realizadas oito entrevistas em profundidade na comunidade nepalesa e 29 entrevistas na comunidade portuguesa. A amostra foi de conveniência e teoricamente sustentada. A seguir às entrevistas, foi feita uma análise de conteúdo individual e transversal. Esta tese pretende contribuir para o enriquecimento de linhas de investigação sobre audiências activas dos média. Poderá servir de fonte de informação para políticas relacionadas com a integração de imigrantes, nomeadamente, para reformulação de políticas relacionadas com os média e com a língua de acolhimento. No caso de empresas de comunicação, a informação obtida poderá ser útil para adaptarem melhor os seus conteúdos a este público específico.

Crowdfunding

Crowdfunding, as we know it today, is a very recent activity that was born almost accidentally in the end of the 90’s decade. Due to the advent of the internet and the social networks, entrepreneurs are now able to promote their projects to a very large community. Whether it is composed by family, friends, acquaintances or simply people that are interested in the same topic or share the passion, the community is able to fund new ventures by individually investing modest amounts of money. In return, the entrepreneur can offer symbolic rewards, shares or other financial returns. New crowdfunding platforms are born almost every day all over the world, offering a new way of raising capital for their projects or a new way to invest their money in innovative ventures. Although crowdfunding is still finding its place in the financial services, successful cases such as Kickstarter demonstrate the power of the crowd in boosting creativity and productivity, financing thousands of projects by raising millions of dollars from thousands of investors. Due to regulatory restrictions, the most prominent model for now is reward-based crowdfunding, where the investors are prized with symbolic returns or privileged access to the products or services offered by the entrepreneurs. Other models such as peer-to-peer lending are also surging, allowing borrowers access to capital at a lower cost compared to so-called traditional financial institutions, and offering lenders a higher rate of return. But when it comes to offering shares to investors, i.e. using equity-based crowdfunding, entrepreneurs face regulatory obstacles in almost every country, where legislation was passed decades ago with the objective of promoting financially-capable ventures and protecting investors. Access to capital has become more difficult after the global economic recession of 2008, and for most countries it will not get easier in the near future, leaving start-ups and small enterprises with few options to start or expand their operations. In this study we attempt to answer the following research questions: how has equity-based crowdfunding evolved since its creation? Where and how has equity-based crowdfunding been implemented so far? What are the constraints and opportunities for implementing equity-crowdfunding in the world, and more particularly in Portugal? Finally, we will discuss the risks of crowdfunding and reflect on the future of this industry.