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.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Competitive dynamics for behavior coordination in a joint transportation task

We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.

A logística na cadeia de frio em Portugal: transporte de produtos perecíveis congelados

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Personalized public transportation information

Thesis to obtain the Master of Science Degree in Computer Science and Engineering

Coastal sedimentary environments and sea-level changes

A detailed knowledge of the 3-D arrangement and lateral facies relationships of the stacking patterns in coastal deposits is essential to approach many geological problems such as precise tracing of sea level changes, particularly during small scale fluctuations. These are useful data regarding the geodynamic evolution of basin margins and yield profit in oil exploration. Sediment supply, wave-and tidal processes, coastal morphology, and accommodation space generated by eustasy and tectonics govern the highly variable architecture of sedimentary bodies deposited in coastal settings. But these parameters change with time, and erosional surfaces may play a prominent role in areas located towards land. Besides, lateral shift of erosional or even depositional loci very often results in destruction of large parts of the sediment record. Several case studies illustrate some commonly found arrangements of facies and their distinguishing features. The final aim is to get the best results from the sedimentological analysis of coastal units.

Caracterização do transporte intermodal de cargas na zona norte de Portugal

Dissertação apresentada ao Instituto Politécnico do Porto para obtenção do Grau de Mestre em Logística Orientado pela professora Doutora Maria Teresa Ribeiro Pereira Esta dissertação não inclui as críticas e sugestões feitas pelo Júri.

Sea urchin granuloma

Injuries caused by venomous and poisonous aquatic animals may provoke important morbidity in humans. The phylum Echinoderma include more than 6000 species of starfish, sea urchins, sand dollars, and sea cucumbers some of which have been found responsible for injuries to humans. Initial injuries by sea urchins are associated with trauma and envenomation, but later effects can be observed. Sea urchin granuloma is a chronic granulomatous skin disease caused by frequent and successive penetration of sea urchin spines which have not been removed from wounds. The authors report a typical case of sea urchin granuloma in a fisherman and its therapeutic implications.

Learning sustainability by developing a solar dryer for microalgae retrieval

The development of nations depends on energy consumption, which is generally based on fossil fuels. This dependency produces irreversible and dramatic effects on the environment, e.g. large greenhouse gas emissions, which in turn cause global warming and climate changes, responsible for the rise of the sea level, floods, and other extreme weather events. Transportation is one of the main uses of energy, and its excessive fossil fuel dependency is driving the search for alternative and sustainable sources of energy such as microalgae, from which biodiesel, among other useful compounds, can be obtained. The process includes harvesting and drying, two energy consuming steps, which are, therefore, expensive and unsustainable. The goal of this EPS@ISEP Spring 2013 project was to develop a solar microalgae dryer for the microalgae laboratory of ISEP. A multinational team of five students from distinct fields of study was responsible for designing and building the solar microalgae dryer prototype. The prototype includes a control system to ensure that the microalgae are not destroyed during the drying process. The solar microalgae dryer works as a distiller, extracting the excess water from the microalgae suspension. This paper details the design steps, the building technologies, the ethical and sustainable concerns and compares the prototype with existing solutions. The proposed sustainable microalgae drying process is competitive as far as energy usage is concerned. Finally, the project contributed to increase the deontological ethics, social compromise skills and sustainable development awareness of the students.

Velas içadas: navigating emotion in a sea of science

Dissertação para obtencão do grau de Mestrado em Arte e Ciência do Vidro

The words about a “sea of trees”. Colonial and post-colonial narratives about Gorongosa (Mozambique)

8º Congresso Ibérico de Estudos Africanos (CIEA8). Madrid, 2012

Spatial-temporal analyses of climate elements, vegetation characteristics and sea surface temperature anomaly. A Case study in Gojam, Ethiopia

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

SURVIVAL, INDUCTION AND RESUSCITATION OF Vibrio cholerae FROM THE VIABLE BUT NON-CULTURABLE STATE IN THE SOUTHERN CARIBBEAN SEA

The causative agent of cholera, Vibrio cholerae, can enter into a viable but non-culturable (VBNC) state in response to unfavorable conditions. The aim of this study was to evaluate the in situ survival of V. cholerae in an aquatic environment of the Southern Caribbean Sea, and its induction and resuscitation from the VBNC state. V. cholerae non-O1, non-O139 was inoculated into diffusion chambers placed at the Cuare Wildlife Refuge, Venezuela, and monitored for plate, total and viable cells counts. At 119 days of exposure to the environment, the colony count was < 10 CFU/mL and a portion of the bacterial population entered the VBNC state. Additionally, the viability decreased two orders of magnitude and morphological changes occurred from rod to coccoid cells. Among the aquatic environmental variables, the salinity had negative correlation with the colony counts in the dry season. Resuscitation studies showed significant recovery of cell cultivability with spent media addition (p < 0.05). These results suggest that V. cholerae can persist in the VBNC state in this Caribbean environment and revert to a cultivable form under favorable conditions. The VBNC state might represent a critical step in cholera transmission in susceptible areas.