Dynamical Analysis of Non-Repetitive Trajectories in Robotic Manipulation

A new method for the study and optimization of manu«ipulator trajectories is developed. The novel feature resides on the modeling formulation. Standard system desciptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to "deterministic" tasks, such as those appearing in a repetitivework, and are not well adapted to a "random" operation that occurs in intelligent systems interacting with a non-structured and changing environment. These facts motivate the development of alternative models based on distinct concepts. The proposed embedding of statistics and Fourier trasnform gives a new perspective towards the calculation and optimization of the robot trajectories in manipulating tasks.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Combining sparse and dense methods in 6D Visual Odometry

13th International Conference on Autonomous Robot Systems (Robotica), 2013, Lisboa

Multi-robot cooperative stereo for outdoor scenarios

13th International Conference on Autonomous Robot Systems (Robotica), 2013

Relatório de Estágio: Análise da eficiência do Sistema de controlo de tráfego da cidade do Porto

No âmbito da unidade curricular Dissertação/Estágio/Projeto, foi desenvolvido, durante um estágio na Câmara Municipal do Porto, o estudo da eficiência do sistema inteligente de controlo de tráfego implementado na cidade. Este sistema é designado como Sistema Inteligente de Gestão Autónoma - SIGA e tem como base de funcionamento o software de gestão de tráfego GERTRUDE da empresa GERTRUDE SAEM. O sistema de controlo de tráfego encontra-se repartido em 10 zonas interligadas, focadas essencialmente no centro da cidade do Porto. O estudo foi aplicado apenas a uma parte da zona da Constituição, nomeadamente a rua da Constituição, desde a Praça Marquês até à rua Antero de Quental. A eficiência mediu-se pela comparação de duas situações, a circulação e comportamento das correntes de tráfego com o sistema em funcionamento normal e com o sistema desativado. Por sua vez, o indicador utilizado que permitiu avaliar o sistema, foi o nível de serviço obtido pelo atraso médio por veículo em cada ramo de cada interseção. Para determinação do atraso, foram testados diferentes métodos, para se tentar perceber qual aquele que melhor se adequava à situação e que exigia menor número de recursos humanos. À frente serão exaradas algumas conclusões acerca da metodologia de cada um deles e condicionantes que levaram à não utilização de todos os métodos. Depois de aplicadas as metodologias que permitiram determinar o nível de serviço em cada grupo semafórico das diferentes interseções, percebeu-se que existe uma grande diferença na circulação entre as duas situações, sendo que a mais-valia que este sistema apresenta é a coordenação das diferentes interseções que se encontram abrangidas pelas 10 zonas pertencentes ao SIGA.

Desenvolvimento de um Protótipo de Dispensador Automático de Medicamentos

O número de pessoas com idade superior a 65 anos aumentou consideravelmente nos últimos 40 anos. Este incremento de longevidade tem levado ao aparecimento de varias patologias relacionadas com a idade e ao aumento da prevalência das patologias cronicas. Uma grande maioria desta população e poli-medicada e assim sendo a gestão de medicamentos e uma área que pode proporcionar grandes benefícios aos idosos. A grande quantidade de medicamentos assim como as diferentes dosagens e os diferentes horários de toma fazem com que os idosos se confundam no cumprimento do esquema terapêutico aconselhado pelo medico, nomeadamente devido ao declínio cognitivo a que estão sujeitos devido ao envelhecimento humano. Torna-se, portanto, fundamental o desenvolvimento de sistemas inteligentes que auxiliem os idosos na gestão da sua medicação. A presente dissertação de mestrado foi materializada num dispositivo, designado ElderlySafety, que visa responder aos problemas da poli-medicação, através de uma solução tecnológica que incorpora as vertentes de controlo e comunicação. O objectivo do ElderlySafety e relembrar, de forma automática, o idoso da toma atempada dos seus medicamentos e consiste num prototipo de um dispositivo com varias compartições para organização dos vários medicamentos. Este aparelho apresenta 24 compartimentos, um deles referente a uma posição estática, considerada a posição `home' e os restantes dizem respeito a 23 tomas de medicação durante uma semana. Os compartimentos em questão devem ser preenchidos com a devida medicação, pelo cuidador do idoso, no inicio de cada semana. O aparelho esta conectado via Bluetooth a uma aplicação denominada ElderlySafety Online que permite monitorizar todo o sistema. E aqui que e feito o registo, com data, hora e nome do medicamento, de toda a medicação prescrita ao paciente. Também e possível a verificação de possíveis interações medicamentosas, bem como o acesso a informações acerca do que fazer em caso de esquecimento de uma ou mais tomas. Aquando a chegada da data e hora da toma de cada medicação, o aparelho desenvolvido emite um lembrete ao idoso e esse lembrete e feito através de um alerta luminoso. Se o sistema ElderlySafety verificar que o idoso se esquece da toma dos medicamentos tem a capacidade de interagir via e-mail com o cuidador, que poder a ser um familiar próximo, alertando-o para o esquecimento da toma de medicação do paciente a seu cuidado. Os testes de validação realizados ao ElderlySafety revelaram que o prototipo se mostra funcional e apto para integrar um ambiente de vida assistido de qualquer idoso.

Project management: evaluation of the problems in the portuguese construction industry

During recent decades it has been possible to identify several problems in construction industry project management, related with to systematic failures in terms of fulfilling its schedule, cost and quality targets, which highlight a need for an evaluation of the factors that may cause these failures. Therefore, it is important to understand how project managers plan the projects, so that the performance and the results can be improved. However, it is important to understand if other areas beyond cost and time management that are mentioned on several studies as the most critical areas, receive the necessary attention from construction project managers. Despite the cost and time are the most sensitive areas/fields, there are several other factors that may lead to project failure. This study aims at understand the reasons that may cause the deviation in terms of cost, time and quality, from the project management point of view, looking at the knowledge areas mentioned by PMI (Project Management Institute).

Step towards of a homemade business intelligence solution: A case study in textile industry

Nowadays, organizations are increasingly looking to invest in business intelligence solutions, mainly private companies in order to get advantage over its competitors, however they do not know what is necessary. Business intelligence allows an analysis of consolidated information in order to obtain more specific outlets and certain indications in order to support the decision making process. You can take the right decision based on the data collected from different information systems present in the organization and outside of them. The textile sector is a sector where concept of Business Intelligence it is not many explored yet. Actually there are few textile companies that have a BI platform. Thus, the article objective is present an architecture and show all the steps by which companies need to spend to implement a successful free homemade Business Intelligence system. As result the proposed approach it was validated using real data aiming assess the steps defined.

Pervasive business intelligence platform to improve the quality of decision process in primary and secondary education – A Portuguese case study

Business Intelligence (BI) can be seen as a method that gathers information and data from information systems in order to help companies to be more accurate in their decision-making process. Traditionally BI systems were associated with the use of Data Warehouses (DW). The prime purpose of DW is to serve as a repository that stores all the relevant information required for making the correct decision. The necessity to integrate streaming data became crucial with the need to improve the efficiency and effectiveness of the decision process. In primary and secondary education, there is a lack of BI solutions. Due to the schools reality the main purpose of this study is to provide a Pervasive BI solution able to monitoring the schools and student data anywhere and anytime in real-time as well as disseminating the information through ubiquitous devices. The first task consisted in gathering data regarding the different choices made by the student since his enrolment in a certain school year until the end of it. Thereafter a dimensional model was developed in order to be possible building a BI platform. This paper presents the dimensional model, a set of pre-defined indicators, the Pervasive Business Intelligence characteristics and the prototype designed. The main contribution of this study was to offer to the schools a tool that could help them to make accurate decisions in real-time. Data dissemination was achieved through a localized application that can be accessed anywhere and anytime.

Predicting plateau pressure in intensive medicine for ventilated patients

Barotrauma is identified as one of the leading diseases in Ventilated Patients. This type of problem is most common in the Intensive Care Units. In order to prevent this problem the use of Data Mining (DM) can be useful for predicting their occurrence. The main goal is to predict the occurence of Barotrauma in order to support the health professionals taking necessary precautions. In a first step intensivists identified the Plateau Pressure values as a possible cause of Barotrauma. Through this study DM models (classification) where induced for predicting the Plateau Pressure class (>=30 cm

Interacting and making personalized recommendations of places of interest to tourists

Advances in Intelligent Systems and Computing, 353

Learning Robotics for youngsters - the RoboParty experience

Series: "Advances in intelligent systems and computing , ISSN 2194-5357, vol. 417"

An assessment of chronic kidney diseases

Kidney renal failure means that one’s kidney have unexpectedlystoppedfunctioning,i.e.,oncechronicdiseaseis exposed, the presence or degree of kidney dysfunction and its progression must be assessed, and the underlying syndrome has to be diagnosed. Although the patient’s history and physical examination may denote good practice, some key information has to be obtained from valuation of the glomerular filtration rate, and the analysis of serum biomarkers. Indeed, chronic kidney sickness depicts anomalous kidney function and/or its makeup, i.e., there is evidence that treatment may avoid or delay its progression, either by reducing and prevent the development of some associated complications, namely hypertension, obesity, diabetes mellitus, and cardiovascular complications. Acute kidney injury appears abruptly, with a rapiddeteriorationoftherenalfunction,butisoftenreversible if it is recognized early and treated promptly. In both situations, i.e., acute kidney injury and chronic kidney disease, an early intervention can significantly improve the prognosis. The assessment of these pathologies is therefore mandatory, although it is hard to do it with traditional methodologies and existing tools for problem solving. Hence, in this work, we will focus on the development of a hybrid decision support system, in terms of its knowledge representation and reasoning procedures based on Logic Programming, that will allow onetoconsiderincomplete,unknown,and evencontradictory information, complemented with an approach to computing centered on Artificial Neural Networks, in order to weigh the Degree-of-Confidence that one has on such a happening. The present study involved 558 patients with an age average of 51.7 years and the chronic kidney disease was observed in 175 cases. The dataset comprise twenty four variables, grouped into five main categories. The proposed model showed a good performance in the diagnosis of chronic kidney disease, since the sensitivity and the specificity exhibited values range between 93.1 and 94.9 and 91.9–94.2 %, respectively.

BeSmart2: A multicriteria decision aid application

This paper presents an improved version of an application whose goal is to provide a simple and intuitive way to use multicriteria decision methods in day-to-day decision problems. The application allows comparisons between several alternatives with several criteria, always keeping a permanent backup of both model and results, and provides a framework to incorporate new methods in the future. Developed in C#, the application implements the AHP, SMART and Value Functions methods.