ROAZ Autonomous Surface Vehicle Design and Implementation

The design of an Autonomous Surface Vehicle for operation in river and estuarine scenarios is presented. Multiple operations with autonomous underwater vehicles and support to AUV missions are one of the main design goals in the ROAZ system. The mechanical design issues are discussed. Hardware, software and implementation status are described along with the control and navigation system architecture. Some preliminary test results concerning a custom developed thruster are presented along with hydrodynamic drag calculations by the use of computer fluid dynamic methods.

An automated maneuver control framework for a remotely operated vehicle

OCEANS, 2001. MTS/IEEE Conference and Exhibition (Volume:2 )

A control framework for a remotely operated vehicle

A control framework enabling the automated maneuvering of a Remotely Operate Vehicle (ROV) is presented. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and implementation as the same model is used throughout. Hybrid systems control techniques are used to synthesize the elemental maneuvers and to design protocols, which coordinate the execution of elemental maneuvers within a complex maneuver. This work is part of the Inspection of Underwater Structures (IES) project whose main objective is the implementation of a ROV-based system for the inspection of underwater structures.

Combining sparse and dense methods in 6D Visual Odometry

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

Controlo inteligente de um Sistema de Levitação Magnética

A levitação magnética tem sido um tema bastante investigado sobretudo devido à sua utilização em sistemas ferroviários de transportes. É o método ideal quando existe a necessidade em aplicações de restringir do contacto físico, ou a conveniência, em termos energéticos, de eliminar o atrito. O princípio de funcionamento é simples, um eletroíman cria uma força sobre um objeto ferromagnético que contraria a gravidade. Contudo um sistema de levitação por atração é instável e não linear, o que significa a necessidade de implementar um controlador para satisfazer as características de estabilidade desejadas. Ao longo deste projeto serão descritos os procedimentos teóricos e práticos que foram tomados na criação de um sistema de levitação eletromagnética. Desde a conceção física do sistema, como escolha do sensor, condicionamento de sinal ou construção do eletroíman, até aos procedimentos matemáticos que permitiram a modelação do sistema e criação de controladores. Os controladores clássicos, como o PID ou em avanço de fase, foram projetados através da técnica do Lugar Geométrico de Raízes. No projeto do controlador difuso, pelo contrário não se fez uso da modelação do sistema ou de qualquer relação matemática entre as variáveis. A utilização desta técnica de controlo destacou-se pela usa simplicidade e rapidez de implementação, fornecendo um bom desempenho ao sistema. Na parte final do relatório os resultados obtidos pelos diferentes métodos de controlo são analisados e apresentadas as respetivas conclusões. Estes resultados revelam que para este sistema, relativamente aos outros métodos, o controlador difuso apresenta o melhor desempenho tanto ao nível da resposta transitória, como em regime permanente.

Abstract Timers and their Implementation onto the ARM Cor tex-M family of MCUs

Presented at Embed with Linux Workshop (EWiLi 2015). 4 to 9, Oct, 2015. Amsterdam, Netherlands.

Development and implementation of strategies for the incorporation of reinforcing elements in aluminium alloys by solid state processing

Dissertação para obtenção do Grau de Mestre em Engenharia Mecânica

Como responder à heterogeneidade dos alunos, de modo a proporcionar o sucesso de cada um?

O sucesso educativo dos alunos é como facilmente se compreenderá, a essência do ato educativo nas suas múltiplas dimensões e formas. O percurso para a obtenção desse sucesso é variado e representa muitas vezes um enorme investimento das organizações educativas nomeadamente na gestão dos seus recursos humanos. Por outro lado, o modelo organizativo instituído pode ser o fator preponderante para a obtenção do sucesso procurado sobretudo quando ele é promotor de um clima harmonioso e motivador para o ato educativo. O projeto apresentado neste estudo estruturou-se numa nova construção dos grupos de trabalho, em que o conceito tradicional de turma foi substituído por grupos, constituídos por alunos cujo grau de conhecimento e competências no âmbito das disciplinas de Português e Matemática, fosse o mais aproximado possível não perdendo de vista o princípio de heterogeneidade do grupo mesmo que relativa ou diminuída, tão importante para promover a diversidade. Este sistema organizativo rompeu com o conceito tradicional da turma o que implicou uma alteração não só na organização de horários escolares dos alunos e docentes mas também obrigou estruturação e implementação de um processo de mobilidades dos alunos entre grupos em função do seu grau de aprendizagens ou de dificuldades na sua obtenção. Este projeto foi ainda promotor de uma cultura de trabalho colaborativo e partilha entre docentes de cada grupo disciplinar promovendo a sistematização de interações entre pares quer na preparação das atividades letivas quer na discussão e resolução dos constrangimentos que o desenvolvimento do projeto evidenciou.

The development and implementation of math projects in a HEI: expectations, objectives, experiences and analysis

An overwhelming problem in Math Curriculums in Higher Education Institutions (HEI), we are daily facing in the last decade, is the substantial differences in Math background of our students. When you try to transmit, engage and teach subjects/contents that your “audience” is unable to respond to and/or even understand what we are trying to convey, it is somehow frustrating. In this sense, the Math projects and other didactic strategies, developed through Learning Management System Moodle, which include an array of activities that combine higher order thinking skills with math subjects and technology, for students of HE, appear as remedial but important, proactive and innovative measures in order to face and try to overcome these considerable problems. In this paper we will present some of these strategies, developed in some organic units of the Polytechnic Institute of Porto (IPP). But, how “fruitful” are the endless number of hours teachers spent in developing and implementing these platforms? Do students react to them as we would expect? Do they embrace this opportunity to overcome their difficulties? How do they use/interact individually with LMS platforms? Can this environment that provides the teacher with many interesting tools to improve the teaching – learning process, encourages students to reinforce their abilities and knowledge? In what way do they use each available material – videos, interactive tasks, texts, among others? What is the best way to assess student’s performance in these online learning environments? Learning Analytics tools provides us a huge amount of data, but how can we extract “good” and helpful information from them? These and many other questions still remain unanswered but we look forward to get some help in, at least, “get some drafts” for them because we feel that this “learning analysis”, that tackles the path from the objectives to the actual results, is perhaps the only way we have to move forward in the “best” learning and teaching direction.

Design and implementation of 3D buildings integration for a Webgl-Based Virtual Globe: a case study of Valencian Cadastre and Fide Building Mode

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

Controller implementation using analog reconfigurable hardware (FPAA)

This Thesis has the main target to make a research about FPAA/dpASPs devices and technologies applied to control systems. These devices provide easy way to emulate analog circuits that can be reconfigurable by programming tools from manufactures and in case of dpASPs are able to be dynamically reconfigurable on the fly. It is described different kinds of technologies commercially available and also academic projects from researcher groups. These technologies are very recent and are in ramp up development to achieve a level of flexibility and integration to penetrate more easily the market. As occurs with CPLD/FPGAs, the FPAA/dpASPs technologies have the target to increase the productivity, reducing the development time and make easier future hardware reconfigurations reducing the costs. FPAA/dpAsps still have some limitations comparing with the classic analog circuits due to lower working frequencies and emulation of complex circuits that require more components inside the integrated circuit. However, they have great advantages in sensor signal condition, filter circuits and control systems. This thesis focuses practical implementations of these technologies to control system PID controllers. The result of the experiments confirms the efficacy of FPAA/dpASPs on signal condition and control systems.

Implementation of an IoT-based Sensor Network Integrating IoT-based Sensor Networks with Large-Scale Message Distribution

As technology advances not only do new standards and programming styles appear but also some of the previously established ones gain relevance. In a new Internet paradigm where interconnection between small devices is key to the development of new businesses and scientific advancement there is the need to find simple solutions that anyone can implement in order to allow ideas to become more than that, ideas. Open-source software is still alive and well, especially in the area of the Internet of Things. This opens windows for many low capital entrepreneurs to experiment with their ideas and actually develop prototypes, which can help identify problems with a project or shine light on possible new features and interactions. As programming becomes more and more popular between people of fields not related to software there is the need for guidance in developing something other than basic algorithms, which is where this thesis comes in: A comprehensive document explaining the challenges and available choices of developing a sensor data and message delivery system, which scales well and implements the delivery of critical messages. Modularity and extensibility were also given much importance, making this an affordable tool for anyone that wants to build a sensor network of the kind.

Implementation for spatial data of the shared nearest neighbour with metric data structures

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

CHEMOPROPHYLAXIS TO CONTROL LEPROSY AND THE PERSPECTIVE OF ITS IMPLEMENTATION IN BRAZIL: A PRIMER FOR NON-EPIDEMIOLOGISTS

The occurrence of leprosy has decreased in the world but the perspective of its elimination has been questioned. A proposed control measure is the use of post-exposure chemoprophylaxis (PEP) among contacts, but there are still questions about its operational aspects. In this text we discuss the evidence available in literature, explain some concepts in epidemiology commonly used in the research on this topic, analyze the appropriateness of implementing PEP in the context of Brazil, and answer a set of key questions. We argue some points: (1) the number of contacts that need to receive PEP in order to prevent one additional case of disease is not easy to be generalized from the studies; (2) areas covered by the family health program are the priority settings where PEP could be implemented; (3) there is no need for a second dose; (4) risk for drug resistance seems to be very small; (5) the usefulness of a serological test to identify a higher risk group of individuals among contacts is questionable. Given that, we recommend that, if it is decided to start PEP in Brazil, it should start on a small scale and, as new evidence can be generated in terms of feasibility, sustainability and impact, it could move up a scale, or not, for a wider intervention.

The application of the controllability principle in Electricidade dos Açores, SA

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics