Standard commercial education robotic platform: intermediate solution to teaching robotics

Teaching robotics to students at the beginning of their studies has become a huge challenge. Simulation environments can be an effective solution to that challenge where students can interact with simulated robots and have the first contact with robotic constraints. From our previous experience with simulation environments it was possible to observe that students with lower background knowledge in robotics where able to deal with a limited number of constraints, implement a simulated robotic platform and study several sensors. The question is: after this first phase what should be the best approach? Should the student start developing their own hardware? Hardware development is a very important part of an engineer's education but it can also be a difficult phase that could lead to discouragement and loss of motivation in some students. Considering the previous constraints and first year engineering students’ high abandonment rate it is important to develop teaching strategies to deal with this problem in a feasible way. The solution that we propose is the integration of a low-cost standard robotic platform WowWee Rovio as an intermediate solution between the simulation phase and the stage where the students can develop their own robots. This approach will allow the students to keep working in robotic areas such as: cooperative behaviour, perception, navigation and data fusion. The propose approach proved to be a motivation step not only for the students but also for the teachers. Students and teachers were able to reach an agreement between the level of demand imposed by the teachers and satisfaction/motivation of the students.

Análise da viabilidade económica da implementação de uma central de micro-cogeração no setor da agropecuária

O crescente aumento do consumo energético das sociedades desenvolvidas e emergentes, motivado pelo progresso económico e social, tem induzido a procura de alternativas focalizadas nas energias renováveis, que possam contribuir para assegurar o fornecimento de energia sem agravar o consumo de combustíveis fósseis e a emissão de gases com efeito de estufa. Nesse sentido, a produção de energia eléctrica a partir do gás metano resultante da estabilização anaeróbia de efluentes tem vindo a ser estudada e praticada desde finais do século XIX, tendo assumido maior expressão a partir dos anos 70 do século XX, na sequência das primeiras crises petrolíferas. As instalações agropecuárias reúnem dois fatores chave para o sucesso do aproveitamento energético do biogás produzido no tratamento dos efluentes: por um lado, produzem matéria-prima com potencial energético – dejeto animal com um potencial enorme de criação de biogás quando procedido de tratamento anaeróbio - e, por outro, necessitam de energia eléctrica para o funcionamento dos equipamentos electromecânicos e de calor para a manutenção das instalações. A valorização energética do biogás produzido na estabilização anaeróbia dos efluentes agro-pecuários, para além de permitir obter um retorno financeiro, que contribui para o equilíbrio dos custos de investimento e de exploração, contribui igualmente para a redução das emissões de gases com efeito de estufa, como o dióxido de carbono e o metano, e para a segurança de abastecimento energético à instalação, na medida em que assegura a alimentação de energia eléctrica em caso de falha no fornecimento pela rede nacional. A presente dissertação apresenta um contributo para estudos a desenvolver por proprietários de agropecuárias, cooperativas regionais do setor da agropecuária, empresas de projecto e estudantes de Engenharia, constituído por uma compilação da informação mais relevante associada à estabilização anaeróbia de efluentes e à valorização energética do biogás produzido. Com base em informação referente ao número real de animais existentes em Portugal, este trabalho pretende fazer ver a essas entidades que o aproveitamento energético do biogás é viável e útil para o país. Com a criação de uma aplicação informática de análise económica de investimento, provar que o investimento em pequenas propriedades, com apenas 80 cabeças normais, pode obter um retorno financeiro razoável, com um prazo de recuperação do investimento bastante baixo, aproveitando um recurso que caso contrário será desperdiçado e poluirá o ambiente.

Dimensionamento de ligações aço-betão segundo a prEN1992-4:2013

O presente relatório documenta o estágio desenvolvido na empresa SE2P – Sociedade de Engenharia, Projeto e Planeamento Lda. no âmbito da unidade curricular de DIPRE (Dissertação/Projeto/ Estágio) do Mestrado em Engenharia Civil – Ramo de Estruturas do Instituto Superior de Engenharia do Porto. A frequência no estágio curricular teve como objetivo principal o desenvolvimento de uma ferramenta de cálculo que permitisse o dimensionamento de ligações aço-betão segundo a prEN1992-4:2013. O desenvolvimento desta ferramenta resulta da necessidade do dimensionamento de soluções leves, económicas e esteticamente agradáveis tendo em conta a uniformização da legislação existente em toda a União Europeia. Atualmente, os projetistas têm utilizado programas de cálculo automático desenvolvidos por fabricantes de sistemas de ancoragens, como é o caso do Profis Anchor da Hilti. Esses programas de cálculo têm como base de dados as Diretrizes de Aprovação Técnica Europeia, a ETAG001- anexo C para dimensionamento de ancoragens mecânicas em betão e o relatório técnico EOTA TR029 para o dimensionamento de ancoragens químicas, apresentando até métodos de cálculo simplificados para uma rápida resposta ao cliente. A publicação da prEN1992-4:2013 é um marco importante, pois há já algum tempo que a construção metálica e mista está regulamentada apresentando algumas falhas no que diz respeito às ligações aço-betão. Esta norma é o culminar de anos de pesquisas, estudos e testes efetuados aos diferentes tipos de ligação tendo em conta além dos modos de rotura possíveis, os princípios de transferência de esforços.

Modelação e dimensionamento de estruturas

O presente relatório refere-se ao trabalho desenvolvido durante o período de estágio curricular enquadrado no ciclo de estudos do Mestrado em Engenharia Civil do ISEP, Instituto Superior de Engenharia do Porto. O estágio desenvolveu-se ao longo de seis meses, desde Fevereiro até Julho de 2015, na empresa FASE S.A., em ambiente de gabinete, para a obtenção do grau de mestre em Engenharia Civil. Durante o período de estágio foram desenvolvidos projetos de estabilidade de estruturas metálicas e de betão armado, desde a fase de conceção, pré-dimensionamento, modelação numérica e análise de resultados, dimensionamento final, até à produção das peças desenhas e escritas constituintes de um projeto de estruturas. Foi possível analisar e dimensionar estruturas através de programas de cálculo automático e ferramentas de cálculo que serão referidas no presente relatório. Neste relatório será descrita pormenorizadamente a elaboração de um projeto em betão armado em todas as suas vertentes. Apresentam-se também as metodologias de cálculo empregues. No culminar, enunciam-se algumas conclusões de carácter geral decorrentes do trabalho desenvolvido.

ISO 9001:2000 - advantages and obstacles in the portuguese construction business

Innovations in Structural Engineering and Construction - ISEC, 2008

Assessing student individual performance within PBL teams: findings from the implementation of a new mechanism

This paper reports on the experience of the implementation of a new mechanism to assess individual student contribution within project work, where students work in teams to solve a large-scale open-ended interdisciplinary project. The study takes place at the University of Minho, with first year engineering students, enrolled in the Industrial Management and Engineering (Integrated Masters) degree. The aim of this paper is to describe the main principles and procedures underlying the assessment mechanism created and also provide some feedback from its first implementation, based on the students, lecturers and tutors perceptions. For data collection, a survey was sent to all course lecturers and tutors involved in the assessment process. Students also contributed with suggestions, both on a workshop held at the end of the project and also by answering a survey on the overall satisfaction with PBL experience. Findings show a positive level of acceptance of the new mechanism by the students and also by the lecturers and tutors. The study identified the need to clarify the criteria used by the lecturers and the exact role of the tutor, as well as the need for further improvement of its features and procedures. Some recommendations are also issued regarding technical aspects related to some of the steps of the procedures, as well as the need for greater support on the adjustment and final setting of the individual grades.

Pultrusion of fibre reinforced thermoplastic pre-impregnated materials

Fibre reinforced thermoplastic pre impregnated materials produced continuously by diverse methods and processing conditions were used to produce composites using pultrusion. The processing windows used to produce these materials and composites profiles were optimized by using the Taguchi / DOE (Design of Experiments) methods. Composites were manufactured by pultrusion and compression moulding and subsequently submitted to mechanical testing and microscopy analysis. The obtained results were compared with the expected theoretical ones predicted from the Rule of Mixtures (ROM) and with those of similar engineering conventional available materials. The results obtained shown that produced composites have adequate properties for applications in common and structural engineering markets.

COST Action TU1406: eBook of the 1st Workshop Meeting

COST Action TU1406 aims to address the European economic and societal needs by standardizing the condition assessment and maintenance level of roadway bridges. Currently, bridge quality control plans vary from country to country and, in some cases, within the same country. This therefore urges the establishment of a European guideline to surpass the lack of a standard methodology to assess bridge condition and to define quality control plans for roadway bridges. Such a guideline will comprise specific recommendations for assessing performance indicators as well as for the definition of performance goals, bringing together different stakeholders (e.g. universities, institutes, operators, consultants and owners) from various scientific disciplines (e.g. on-site testing, visual inspection, structural engineering, sustainability, etc.) in order to establish a common transnational language. COST Action TU1406 Workshops aim to facilitate the exchange of ideas and experiences between active researchers and practitioners as well as to stimulate discussions on new and emerging issues in line with the conference topics. This first Workshop essentially focuses on WG1 issues, namely, intends to address performance indicators, how these are assessed (e.g. visual inspection, nondestructive tests and monitoring systems), with what frequency and what values are generally obtained. The main outcomes, given in this eBook, were really important, not only for WG1 developments, but also for all the other WGs and for the Action itself.

Hierarchical modelling of timber reference properties using probabilistic methods: Maximum Likelihood Method, Bayesian Methods and Probability Networks

In recent decades, an increased interest has been evidenced in the research on multi-scale hierarchical modelling in the field of mechanics, and also in the field of wood products and timber engineering. One of the main motivations for hierar-chical modelling is to understand how properties, composition and structure at lower scale levels may influence and be used to predict the material properties on a macroscopic and structural engineering scale. This chapter presents the applicability of statistic and probabilistic methods, such as the Maximum Likelihood method and Bayesian methods, in the representation of timber’s mechanical properties and its inference accounting to prior information obtained in different importance scales. These methods allow to analyse distinct timber’s reference properties, such as density, bending stiffness and strength, and hierarchically consider information obtained through different non, semi or destructive tests. The basis and fundaments of the methods are described and also recommendations and limitations are discussed. The methods may be used in several contexts, however require an expert’s knowledge to assess the correct statistic fitting and define the correlation arrangement between properties.

Problemáticas de la interacción discursiva en la enseñanza y el aprendizaje de las Ciencias Naturales. Aportes didácticos. Interaction discoursive issues in teaching and learning Natural Sciences. Didactic contributions

Las didácticas específicas de las ciencias naturales revelan diferentes problemáticas en su enseñanza y aprendizaje en los diferentes niveles del sistema educativo. En particular, en las clases de ciencias la interacción discursiva docente alumnos adquiere relevancia, ya que el proceso de comunicación del conocimiento es uno de los pilares didácticos, junto a la trasposición del mismo. Especificamente, en este proyecto nos abocamos a aquellas intervenciones de docentes y alumnos que se relacionan con la construcción del conocimiento biológico y químico. El proyecto se enmarca en una actual linea de trabajo que indaga sobre las dificultades en los abordajes del conocimiento científico en las aulas, las características del discurso entre docentes y alumnos, las habilidades y dificultades en la comprensión de los enunciados de problemas y las características de los textos que se utilizan en las clases. Se focaliza este estudio en casos que intentan dar respuesta a tres temáticas, agrupadas en un conjunto de situaciones de investigación relacionadas con la interacción discursiva docente-alumno, retomando el rol del docente al hablar, guiar o diseñar las situaciones de referencia para el aprendizaje de los alumnos. Los casos son: 1- En cuanto a las concepciones sobre diversidad biológica en estudiantes de escuela secundaria y en textos académicos, atendemos a cómo la escuela presenta los contenidos ecológicos como un conjunto de dogmas y conceptos estáticos. Además suelen simplificarse conceptualmente y presentarse poco actualizados. Es por ello que se planea estudiar las concepciones y actitudes de los alumnos de secundaria sobre la biodiversidad, cómo estas dificultan su comprensión y los textos usados en relación a la promoción de la transposición didáctica. 2- En relación a cómo se elabora el patrón temático del tema célula en clases de Biología, se analizarán las diferentes estrategias de significados y de desarrollo temático, que se emplean en la comunicación aulica. Se intentará establecer si hay cambios en el desarrollo temático a medida que se avanza en la escolaridad. Esto es porque se puede apreciar que muchos de los problemas de aprendizaje del alumnado se deben a un desconocimiento tanto del patrón temático como del patrón estructural de la ciencia, siendo preciso evocar los patrones temáticos que se quieren utilizar, para construir un conocimiento compartido. 3-Finalmente, en los enunciados de problemas de Química, se analizarán las dificultades de comprensión lectora de alumnos de Ingeniería. Los docentes frecuentemente atribuyen los problemas a deficiencias en la instrucción recibida, sin considerarse los conocimientos previos del alumno, los obstáculos conceptuales originados en el tema, las deficiencias en la habilidad lectora, el tipo textual predominante en la consigna, el formato en el que se escribió la consigna y los factores personales, etc., siendo que la comprensión del enunciado de una consigna de trabajo condiciona fuertemente la posibilidad de su resolución. Los tres casos utilizarán metodologías cualitaritas que incluyan análisis de contenido en discursos orales y escritos. Los datos se registrarán desde observación no participante, registro etnográfico y con grabaciones de audio. Se espera contribuir al conocimiento, realizando aportes a la formación docente en tanto las estrategias discursivas que se emplean en el aula, en forma oral y en la escrita, conocer concepciones que dificultan o favoren la construcción del conocimiento científico, entre otras. Los productos de estos estudios estarán integrados por nuevos desarrollos para la formación docente, publicaciones científicas de impacto nacional e internacional, presentaciones a congresos, materiales didácticos y divulgativos, dictado de seminarios y/o cursos, redacción de informes a las escuelas intervinientes.. The specific Natural Sciences didactics show different problems in teaching and learning along the school system. In particular, the discourse used to communicate knowledge in Science lessons becomes important. With this project we will focus on the teachers and students actions regarding the construction of biological and chemical knowledge. This project attempts to answer these issues and brings together a range of research situations related to teacher-student interaction, through discourse, taking up the role of the teacher to speak, to plan and to guide student learning. We will study the ideas and attitudes of high school students about biodiversity that make difficult its understanding and the textbooks used in relation to promotion of the didactic transposition. In addition, regarding how the thematic pattern in biology classes is costructed, it will be analyzed the different meaning and thematic development strategies that are used in communication. We will attempt to establish whether there are any changes in the thematic development throughout high school education. Finally, we will analyze the reading comprehension problems in engineering students. Teachers frequently attribute these issues to deficiencies in prior education, without considering the students background, the conceptual obstacles arising in the field, the format in which the prompt is written, personal factors, etc., keeping in mind that the outcome of an activity is strictly dependant con the prompt understanding. We expect to make contributions to the teacher education in both the discourse strategies used in the classroom, orally and in writing, to learn about the conceptions that hinder or favor the knowledge construction, among others. The products of this study will be national and international impact scientific publications, conference presentations, popular science publications, seminars courses and reports to the schools involeved.

Inclusió de les TIC en el portafoli de l'estudiant per a l'ensenyament dels mètodes numèrics

La finalitat d’aquest projecte ha estat la millora de la formació global dels estudiants. Concretament, mitjançant la creació d’un portafolis que contingui les diferents activitats que ha realitzat l’estudiant al llarg del curs es pretén potenciar tant les competències específiques com les competències transversals dels estudiants. Concretament, aquest objectiu s'ha assolit mitjançant el disseny i el desenvolupament de: 1. nou material docent corresponent a la presentació dels continguts de l’assignatura (apunts, presentacions, animacions,... ) amb el que s'ha pretès promoure el treball individual i la capacitat d’autoaprenentatge dels estudiants. 2. sesions dirigits que es realitzen en aules informàtiques amb el que s'ha volgut incrementar la motivació i desenvolupar un esperit crític dels estudiants 3. treballs tutelats que els estudiants realitzaran en grups, posteriorments pesentaran a la resta de companys i que finalment condueixen a la redacció d’un informe final. D'aquesta manera s'ha pretès desenvolupar les competències transversals dels estudiants

Semiactive backstepping control for vibration attenuation in structures equipped with magnetorheological actuatorscat

This paper deals with the problem of semiactive vibration control of civil engineering structures subject to unknown external disturbances (for example, earthquakes, winds, etc.). Two kinds of semiactive controllers are proposed based on the backstepping control technique. The experimental setup used is a 6-story test structure equipped with shear-mode semiactive magnetorheological dampers being installed in the Washington University Structural Control and Earthquake Engineering Laboratory (WUSCEEL). The experimental results obtained have verified the effectiveness of the proposed control algorithms

A mixed H2/H∞-based semiactive control for vibration mitigation in flexible structures

In this paper, we address this problem through the design of a semiactive controller based on the mixed H2/H∞ control theory. The vibrations caused by the seismic motions are mitigated by a semiactive damper installed in the bottom of the structure. It is meant by semiactive damper, a device that absorbs but cannot inject energy into the system. Sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller that guarantees asymptotic stability and a mixed H2/H∞ performance is then developed. An algorithm is proposed to handle the semiactive nature of the actuator. The performance of the controller is experimentally evaluated in a real-time hybrid testing facility that consists of a physical specimen (a small-scale magnetorheological damper) and a numerical model (a large-scale three-story building)

QFT control for vibration reduction in structures equipped with MR dampers

This short paper addresses the problem of designing a QFT (quantitative feedback theory) based controllers for the vibration reduction in a 6-story building structure equipped with shear-mode magnetorheological dampers. A new methodology is proposed for characterizing the nonlinear hysteretic behavior of the MR damper through the uncertainty template in the Nichols chart. The design procedure for QFT control design is briefly presented

Composite Precast Prestressed Concrete Bridge Slabs, HR-310, 1991

Precast prestressed concrete panels have been used as subdecks in bridge construction in Iowa and other states. To investigate the performance of these types of composite slabs at locations adjacent to abutment and pier diaphragms in skewed bridges, a research prcject which involved surveys of design agencies and precast producers, field inspections of existing bridges, analytical studies, and experimental testing was conducted. The survey results from the design agencies and panel producers showed that standardization of precast panel construction would be desirable, that additional inspections at the precast plant and at the bridge site would be beneficial, and that some form of economical study should be undertaken to determine actual cost savings associated with composite slab construction. Three bridges in Hardin County, Iowa were inspected to observe general geometric relationships, construction details, and to note the visual condition of the bridges. Hairline cracks beneath several of the prestressing strands in many of the precast panels were observed, and a slight discoloration of the concrete was seen beneath most of the strands. Also, some rust staining was visible at isolated locations on several panels. Based on the findings of these inspections, future inspections are recommended to monitor the condition of these and other bridges constructed with precast panel subdecks. Five full-scale composite slab specimens were constructed in the Structural Engineering Laboratory at Iowa State University. One specimen modeled bridge deck conditions which are not adjacent to abutment or pier diaphragms, and the other four specimens represented the geometric conditions which occur for skewed diaphragms of 0, 15, 30, and 40 degrees. The specimens were subjected to wheel loads of service and factored level magnitudes at many locations on the slab surface and to concentrated loads which produced failure of the composite slab. The measured slab deflections and bending strains at both service and factored load levels compared reasonably well with the results predicted by simplified Finite element analyses of the specimens. To analytically evaluate the nominal strength for a composite slab specimen, yield-line and punching shear theories were applied. Yield-line limit loads were computed using the crack patterns generated during an ultimate strength test. In most cases, these analyses indicated that the failure mode was not flexural. Since the punching shear limit loads in most instances were close to the failure loads, and since the failure surfaces immediately adjacent to the wheel load footprint appeared to be a truncated prism shape, the probable failure mode for all of the specimens was punching shear. The development lengths for the prestressing strands in the rectangular and trapezoidal shaped panels was qualitatively investigated by monitoring strand slippage at the ends of selected prestressing strands. The initial strand transfer length was established experimentally by monitoring concrete strains during strand detensioning, and this length was verified analytically by a finite element analysis. Even though the computed strand embedment lengths in the panels were not sufficient to fully develop the ultimate strand stress, sufficient stab strength existed. Composite behavior for the slab specimens was evaluated by monitoring slippage between a panel and the topping slab and by computation of the difference in the flexural strains between the top of the precast panel and the underside of the topping slab at various locations. Prior to the failure of a composite slab specimen, a localized loss of composite behavior was detected. The static load strength performance of the composite slab specimens significantly exceeded the design load requirements. Even with skew angles of up to 40 degrees, the nominal strength of the slabs did not appear to be affected when the ultimate strength test load was positioned on the portion of each slab containing the trapezoidal-shaped panel. At service and factored level loads, the joint between precast panels did not appear to influence the load distribution along the length of the specimens. Based on the static load strength of the composite slab specimens, the continued use of precast panels as subdecks in bridge deck construction is recommended.