Simulation of a resonant inverter

Mostly developed since the Industrial Revolution, the automation of systems and equipment around us is responsible for a technological progress and economic growth without precedents, but also by a relentless energy dependence. Currently, fossil fuels still tend to come as the main energy source, even in developed countries, due to the ease in its extraction and the mastery of the technology needed for its use. However, the perception of its ending availability, as well as the environmental impact of this practice has led to a growing energy production originated from renewable sources. Easy maintenance, coupled with the fact that they are virtually inexhaustible, makes the solar and wind energy very promising solutions. In this context, this work proposes to facilitate energy production from these sources. To this end, in this work the power inverter is studied, which is an equipment responsible for converting DC power available by solar or wind power in traditional AC power. Then it is discussed and designed a new architecture which, in addition to achieve a high energy e - ciency, has also the ability to adapt to the type of conversion desired by the user, namely if he wants to sell electricity to the power grid, be independent of it or bet on a self consumption system. In order to achieve the promised energy e ciency, the projected inverter uses a resonant DC-DC converter, whose architecture signi cantly decreases the energy dissipated in the conversion, allowing a higher power density. The adaptability of the equipment is provided by an adaptive control algorithm, responsible for assessing its behavior on every iteration and making the necessary changes to achieve maximum stability throughout the process. To evaluate the functioning of the proposed architecture, a simulation is presented using the PLECS simulation software.

The Productive use of Failure to Generate Witnesses from Divergent Proof Attempts for Coinduction

Coinduction is a proof rule. It is the dual of induction. It allows reasoning about non--well--founded structures such as lazy lists or streams and is of particular use for reasoning about equivalences. A central difficulty in the automation of coinductive proof is the choice of a relation (called a bisimulation). We present an automation of coinductive theorem proving. This automation is based on the idea of proof planning. Proof planning constructs the higher level steps in a proof, using knowledge of the general structure of a family of proofs and exploiting this knowledge to control the proof search. Part of proof planning involves the use of failure information to modify the plan by the use of a proof critic which exploits the information gained from the failed proof attempt. Our approach to the problem was to develop a strategy that makes an initial simple guess at a bisimulation and then uses generalisation techniques, motivated by a critic, to refine this guess, so that a larger class of coinductive problems can be automatically verified. The implementation of this strategy has focused on the use of coinduction to prove the equivalence of programs in a small lazy functional language which is similar to Haskell. We have developed a proof plan for coinduction and a critic associated with this proof plan. These have been implemented in CoClam, an extended version of Clam with encouraging results. The planner has been successfully tested on a number of theorems.

68Ga somatostatin analog radiolabelling: The radiopharmacist's point of view

International audience

TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Development of a novel platform for high-throughput gene design and artificial gene synthesis to produce large libraries of recombinant venom peptides for drug discovery

Tese de Doutoramento em Ciências Veterinárias na Especialidade de Ciências Biológicas e Biomédicas

Electrochemical Immunosensing of Cortisol in an Automated Microfluidic System Towards Point-of-Care Applications

This dissertation describes the development of a label-free, electrochemical immunosensing platform integrated into a low-cost microfluidic system for the sensitive, selective and accurate detection of cortisol, a steroid hormone co-related with many physiological disorders. Abnormal levels of cortisol is indicative of conditions such as Cushing’s syndrome, Addison’s disease, adrenal insufficiencies and more recently post-traumatic stress disorder (PTSD). Electrochemical detection of immuno-complex formation is utilized for the sensitive detection of Cortisol using Anti-Cortisol antibodies immobilized on sensing electrodes. Electrochemical detection techniques such as cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS) have been utilized for the characterization and sensing of the label-free detection of Cortisol. The utilization of nanomaterial’s as the immobilizing matrix for Anti-cortisol antibodies that leads to improved sensor response has been explored. A hybrid nano-composite of Polyanaline-Ag/AgO film has been fabricated onto Au substrate using electrophoretic deposition for the preparation of electrochemical immunosening of cortisol. Using a conventional 3-electrode electrochemical cell, a linear sensing range of 1pM to 1µM at a sensitivity of 66µA/M and detection limit of 0.64pg/mL has been demonstrated for detection of cortisol. Alternately, a self-assembled monolayer (SAM) of dithiobis(succinimidylpropionte) (DTSP) has been fabricated for the modification of sensing electrode to immobilize with Anti-Cortisol antibodies. To increase the sensitivity at lower detection limit and to develop a point-of-care sensing platform, the DTSP-SAM has been fabricated on micromachined interdigitated microelectrodes (µIDE). Detection of cortisol is demonstrated at a sensitivity of 20.7µA/M and detection limit of 10pg/mL for a linear sensing range of 10pM to 200nM using the µIDE’s. A simple, low-cost microfluidic system is designed using low-temperature co-fired ceramics (LTCC) technology for the integration of the electrochemical cortisol immunosensor and automation of the immunoassay. For the first time, the non-specific adsorption of analyte on LTCC has been characterized for microfluidic applications. The design, fabrication technique and fluidic characterization of the immunoassay are presented. The DTSP-SAM based electrochemical immunosensor on µIDE is integrated into the LTCC microfluidic system and cortisol detection is achieved in the microfluidic system in a fully automated assay. The fully automated microfluidic immunosensor hold great promise for accurate, sensitive detection of cortisol in point-of-care applications.

Utformning av tak och möjligheter med automation av takstolstillverkning i trä

Purpose: The purpose of this work is to increase the possibilities of designing building components for specific demands to increase the building’s value, and to investigate how the possibilities can be affected by automating the production process. Method: The theoretical framework, which this study is based on, was collected using literature studies and was thereafter combined with the empirics, which were retrieved from qualitative methods as interviews and planned observations. A case study was made of the building Ormhuset in Jönköping. Findings: The objective of this work is to investigate the possibilities for designing roofs by using new automation methods for the production process of wooden roof structures. This study implies that parametric design can be used to generate new innovative shapes and designs that are optimised according to specific criteria. Furthermore, an increased use of automation in the production process of wooden roof trusses result in cheaper roof trusses, regardless of their shapes. The generated optimized designs are therefore cheaper and easier to produce using more automation in the production process. Implications: If parametric design is used, almost any kind of shapes can be generated and optimised. To ensure manufacturability of a design, an early connection between architect and manufacturer is important. Furthermore, increased use of automation can lead to easier and faster production of roof trusses and investing in more automation can be relevant for companies with large production volumes. Using digital files to control the manufacturing machines is time saving. There are alternative manufacturing methods for advanced roof structurers in wood, which are better suited for production, which cannot be rationalized as for roof trusses. Constraints for increased automation are often a high investment cost and limited space. Limitations: If the study is performed on another case than Ormhuset and with other respondents, the result might have differed but could be similar, why this study is not generally valid but only shows one possible outcome.

Setting up a network of agrometeorological stations in East Timor

A developed and sustainable agriculture requires a permanent and reliable monitoring of climatic/ meteorological elements in (agro) meteorological stations which should be located close to agricultural, silvicultural or pastoral activities. An adequate network of meteorological stations is then a necessary condition to support innovation and development in any country. Developing countries, mainly those with a history of frequent conflicts, presents deficient number of weather stations, often poorly composed and improperly distributed within their territories, and without a regular operation that allows continuity of records for a sufficiently long period of time. The objective of this work was to build a network of meteorological and agro-meteorological stations in East Timor. To achieve this goal, the number and location of pre-existing stations, their structure and composition (number and type of sensors, communication system,… ), the administrative division of the country and the available agro-ecological zoning, the agricultural and forestry practices in the country, the existing centres for the agricultural research and the history of the weathers records were taken into account. Several troubles were found (some of the automatic stations were assembled incorrectly, others stations duplicated information regarding the same agricultural area, vast areas with relevant agro-ecological representativeness were not monitored …). It was proposed the elimination of 11 existing stations, the relocation of 7 new stations in places not covered until then, the automation of 3 manual meteorological stations. Two networks were then purposed, a major with 15 agro-meteorological stations (all automatized) and one other secondary composed by 32 weather stations (only two were manual). The set of the 47 stations corresponded to a density of 329 km2/station. The flexibility in the composition of each of the networks was safeguarded and intends to respond effectively to any substantive change in the conditions in a country in constant change. It was also discussed the national coverage by these networks under a “management concept for weather stations”.

Design and characterization of automated agricultural vehicle systems

Nowadays, technological advancements have brought industry and research towards the automation of various processes. Automation brings a reduction in costs and an improvement in product quality. For this reason, companies are pushing research to investigate new technologies. The agriculture industry has always looked towards automating various processes, from product processing to storage. In the last years, the automation of harvest and cultivation phases also has become attractive, pushed by the advancement of autonomous driving. Nevertheless, ADAS systems are not enough. Merging different technologies will be the solution to obtain total automation of agriculture processes. For example, sensors that estimate products' physical and chemical properties can be used to evaluate the maturation level of fruit. Therefore, the fusion of these technologies has a key role in industrial process automation. In this dissertation, ADAS systems and sensors for precision agriculture will be both treated. Several measurement procedures for characterizing commercial 3D LiDARs will be proposed and tested to cope with the growing need for comparison tools. Axial errors and transversal errors have been investigated. Moreover, a measurement method and setup for evaluating the fog effect on 3D LiDARs will be proposed. Each presented measurement procedure has been tested. The obtained results highlight the versatility and the goodness of the proposed approaches. Regarding the precision agriculture sensors, a measurement approach for the Moisture Content and density estimation of crop directly on the field is presented. The approach regards the employment of a Near Infrared spectrometer jointly with Partial Least Square statistical analysis. The approach and the model will be described together with a first laboratory prototype used to evaluate the NIRS approach. Finally, a prototype for on the field analysis is realized and tested. The test results are promising, evidencing that the proposed approach is suitable for Moisture Content and density estimation.

Robotics and neurodevelopmental disorder: design and implementation of a system of engagement metrics in human-robot interactions.

In the recent decades, robotics has become firmly embedded in areas such as education, teaching, medicine, psychology and many others. We focus here on social robotics; social robots are designed to interact with people in a natural and interpersonal way, often to achieve positive results in different applications. To interact and cooperate with humans in their daily-life activities, robots should exhibit human-like intelligence. The rapid expansion of social robotics and the existence of various kinds of robots on the market have allowed research groups to carry out multiple experiments. The experiments carried out have led to the collections of various kinds of data, which can be used or processed for psychological studies, and studies in other fields. However, there are no tools available in which data can be stored, processed and shared with other research groups. This thesis proposes the design and implementation of visual tool for organizing dataflows in Human Robot Interaction (HRI).

Smart Mirror: remote verification of an identity document holder

Nowadays, some activities, such as subscribing an insurance policy or opening a bank account, are possible by navigating through a web page or a downloadable application. Since the user is often “hidden” behind a monitor or a smartphone, it is necessary a solution able to guarantee about their identity. Companies are often requiring the submission of a “proof-of-identity”, which usually consists in a picture of an identity document of the user, together with a picture or a brief video of themselves. This work describes a system whose purpose is the automation of these kinds of verifications.

Generative Neural Networks for image iper-resolution and improvement of Optical Character Recognition's performances

The usage of Optical Character Recognition’s (OCR, systems is a widely spread technology into the world of Computer Vision and Machine Learning. It is a topic that interest many field, for example the automotive, where becomes a specialized task known as License Plate Recognition, useful for many application from the automation of toll road to intelligent payments. However, OCR systems need to be very accurate and generalizable in order to be able to extract the text of license plates under high variable conditions, from the type of camera used for acquisition to light changes. Such variables compromise the quality of digitalized real scenes causing the presence of noise and degradation of various type, which can be minimized with the application of modern approaches for image iper resolution and noise reduction. Oneclass of them is known as Generative Neural Networks, which are very strong ally for the solution of this popular problem.

Fleet Management System for Search and Rescue Operations

Over one million people lost their lives in the last twenty years from natural disasters like wildfires, earthquakes and man-made disasters. In such scenarios the usage of a fleet of robots aims at the parallelization of the workload and thus increasing speed and capabilities to complete time sensitive missions. This work focuses on the development of a dynamic fleet management system, which consists in the management of multiple agents cooperating in order to accomplish tasks. We presented a Mixed Integer Programming problem for the management and planning of mission’s tasks. The problem was solved using both an exact and a heuristic approach. The latter is based on the idea of solving iteratively smaller instances of the complete problem. Alongside, a fast and efficient algorithm for estimation of travel times between tasks is proposed. Experimental results demonstrate that the proposed heuristic approach is able to generate quality solutions, within specific time limits, compared to the exact one.

Uso de redes neurais artificiais na identificação de vocalização de suínos

Animal welfare has been an important research topic in animal production mainly in its ways of assessment. Vocalization is found to be an interesting tool for evaluating welfare as it provides data in a non-invasive way as well as it allows easy automation of process. The present research had as objective the implementation of an algorithm based on artificial neural network that had the potential of identifying vocalization related to welfare pattern indicatives. The research was done in two parts, the first was the development of the algorithm, and the second its validation with data from the field. Previous records allowed the development of the algorithm from behaviors observed in sows housed in farrowing cages. Matlab® software was used for implementing the network. It was selected a retropropagation gradient algorithm for training the network with the following stop criteria: maximum of 5,000 interactions or error quadratic addition smaller than 0.1. Validation was done with sows and piglets housed in commercial farm. Among the usual behaviors the ones that deserved enhancement were: the feed dispute at farrowing and the eventual risk of involuntary aggression between the piglets or between those and the sow. The algorithm was able to identify through the noise intensity the inherent risk situation of piglets welfare reduction.

Flow rate sprinkler development for site-specific irrigation

Due to the rapid depletion of water resources, water must be used more efficiently in agriculture to maintain current levels of yield in irrigated areas. The efficiency of irrigation systems can be increased by adjusting the amount of water applied to specific conditions of soil and crop, which may vary in a field. Taking into account spatial and temporal variability, it is evident that an equipment capable of providing different irrigation levels is necessary to meet the water requirement of the soil. This work aims to develop and evaluate a flow rate sprinkler to be used in center pivots or linear moving irrigation systems, with potential for utilization in irrigation scheduling. A prototype was developed by duplicating its calibrations, and discharge coefficient adjustment was carried out in the laboratory. To predict the flow rate, a successful model that represented the operation of the flow rate sprinkler was established. The calibration of the flow rate sprinkler prototype showed satisfactory statistical and technical results. Automation of the prototype was achieved by driving a step motor using communication from the parallel port of a microcomputer, which was controlled by a software developed for this purpose. The results were satisfactory and technically feasible.