Integer vs. fractional order control of a hexapod robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Examination timetabling automation using hybrid meta-heuristics

Trabalho de projeto realizado para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Biodiversity of cyanobacteria and green algae on monuments in the Mediterranean Basin: an overview

Microbiology (2009), 155, 3476–3490

Mineralogia da fracção argilosa da Formação de Vale Álvaro (Bragança, NE Portugal)

The studied materials were sampled from several conglomerate and carbonate sandstone units, overlapped for 23 meters. This formation represents a debris flow dominated alluvial fan alternating with quiet sedimentary conditions. These deposits of probably Paleogene age were placed upon mafic and ultramafic rocks that are the exclusive source of sediments. Optical and SEM identification, microanalysis and XRD studies (with decomposition procedures) of clay fractions obtained after high-speed centrifugation were performed in order to characterise the clay minerals content. The results of the analytical program allowed the establishment of the following remarks: a) Fe-rich montmorillonite dominance over paligorskite, chlorite, chlorite-smectite mixed-layers, serpentine and talc; b) smectites in the 12.4 - 15 A range, expanding to about 17 A after EG treatment; c) serpentine and talc as secondary minerals in the interior of altered clasts; d) chlorite and clorite smectite mixed-layer compositions in the borders of the clasts and in the cement. The composition of sediments results from coarse clasts eroded from mafic and ultramafic rocks and clayey material. Clasts show evidences of post-depositional weathering (coatings of chlorite and smectite). Clayey material has the contributions of i) inherired chlorite, smectite and chlorite-smectite mixed-layers; ii ) authigenic crystallisation of Fe-montmorillonite (due to availability of Fe in the crystallising solutions following previous weathering events); iii) authigenic paligorskite associated to a carbonate cement.

High-resolution correlation of coastal cliff sections in the Lagos- Portimao Formation (Lower - Middle Miocene, central Algarve, Portugal)

This paper describes a high-resolution stratigraphic correlation scheme for the early to middle Miocene Lagos-Portimão Formation of central Algarve, southern Portugal. The Lagos Portimão-Formation of central Algarve is a 60 m thick package of horizontally bedded siliciclastics and carbonates. The bryozoan and mollusc dominated biofacies is typical of a shallow marine, warm-temperate climatic environment. We define four stratigraphic marker beds based on biofacies, lithology, and gamma-ray signatures. Marker bed 1 is a reddish shell bed composed predominantly of bivalve shells in various stages of fragmentation. Marker bed 2 is a fossiliferous sandstone / sandy rudstone characterized by bryozoan masses. Marker bed 3 is also a fossiliferous sandstone with abundant larger foraminifers and foliate bryozoans. Marker bed 4 is composed of three distinct layers; two fossiliferous sandstones with an intercalated shell bed. The upper sandstone unit displays thickets of the bryozoan Celleporaria palmate associated with the coral Culizia parasitica. This stratigraphic framework allows to correlate isolated outcrops within the stratigraphic context of the Lagos-Portimão Formation and to establish high resolution chronostratigraphic Sr-isotopic dating.

Estudo, Avaliação e Propostas de melhoria para a Climatização do edifício Biorama do Parque Biológico de Vila Nova de Gaia

A eficiência energética e a preocupação com a sustentabilidade têm vindo a ganhar preponderância na sociedade moderna. Este trabalho é uma contribuição para esta tendência onde se pretendeu avaliar e sugerir alterações ao sistema de climatização do edifício Biorama do Parque Biológico de Vila Nova de Gaia (PBG). Procedeu-se em primeiro lugar a uma caracterização física, química e geográfica dos 5 biomas constituintes do Biorama. Para isso, recorreu-se a documentos fornecidos pelo próprio PBG, visitas ao local e registo de medições de alguns parâmetros (temperatura, humidade relativa, qualidade do ar). Posteriormente foi realizado o balanço térmico dos edifícios, de acordo com a legislação em vigor, recorrendo a expressões e conceitos teóricos. Foram determinados valores dos ganhos térmicos de aquecimento de 15811, 10694, 7939, 9233, e 6621 kWh/ano para Floresta tropical, Mesozoico, Dunas, Savana e Deserto, respetivamente. Foram igualmente determinados valores dos ganhos térmicos no verão de 7093, 4798, 3560, 4144 e 2971 kWh na Floresta tropical, no Mesozoico, nas Dunas, na Savana e no Deserto, respetivamente. As cargas térmicas de aquecimento foram 149, 125, 47, 60 e 51 kW na Floresta tropical, no Mesozoico, nas Dunas, na Savana e no Deserto, respetivamente. As cargas térmicas de arrefecimento foram iguais a 59, 57, 47, 35 e 36 kW na Floresta tropical, no Mesozoico, nas Dunas, na Savana e no Deserto, respetivamente. Algumas soluções são avançadas, bem como alternativas comportamentais de modo a corrigir alguns problemas identificados. Uma proposta é a da instalação de painéis solares e acumuladores de calor, com os quais se estima um ganho médio conjunto de 500 W em cada bioma, e representam um investimento de 1050 euros e terão um retorno de 1 ano. Em relação à humidade é sugerido a utilização mais eficaz dos aspersores existentes e a utilização de esponjas, para fazer subir a humidade relativa para valores superiores a 80%. Em sentido inverso, no inverno, propõem-se a utilização de material higroscópico para fazer baixar a humidade relativa em cerca de 5%. Os custos com os suportes e o material higroscópico rondam os 250 €. Por fim, é sugerido a instalação de um aparelho de ar condicionado de 16 000 BTU no corredor de ligação, pois é a única forma de garantir condições de conforto térmico. Esta proposta de arrefecimento com ar condicionado e ainda o recurso a uma cortina de lâminas de plástico, que servem para efetuar uma separação mais eficiente entre ar frio e ar quente, têm um custo aproximado de 350 €. É ainda sugerida a utilização de lonas ou de uma planta trepadeira com um custo por planta de 5€, nas coberturas dos telhados virados a sul, sendo que a zona do corredor deverá ser totalmente coberta, a fim de evitar a exposição solar direta.

Projecto de um circuito conversor DC-DC para aplicações de “energy harvest”

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Cascade Control of a Hexapod Robot

6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 September

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Energy analysis of Multi-legged Locomotion Systems

4th International Conference on Climbing and Walking Robots - From Biology to Industrial Applications

Building anonymised database samples

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Proprioceptive neuromuscular facilitation in HTLV-I-associated myelopathy/tropical spastic paraparesis

Introduction: Human T cell lymphotropic virus type I-associated myelopathy/tropical spastic paraparesis (HAM/TSP) can impact the independence and motricity of patients. The aims of this study were to estimate the effects of physiotherapy on the functionality of patients with HAM/TSP during the stable phase of the disease using proprioceptive neuromuscular facilitation (PNF) and to compare two methods of treatment delivery. Methods: Fourteen patients with human T cell lymphotropic virus type I (HTLV-I) were randomly allocated into two groups. In group I (seven patients), PNF was applied by the therapist, facilitating the functional activities of rolling, sitting and standing, walking and climbing and descending stairs. In group II (seven patients), PNF was self-administered using an elastic tube, and the same activities were facilitated. Experiments were conducted for 1h twice per week for 12 weeks. Low-back pain, a modified Ashworth scale, the functional independence measure (FIM) and the timed up and go test (TUG) were assessed before and after the interventions. Results: In the within-group evaluation, low-back pain was significantly reduced in both groups, the FIM improved in group II, and the results of the TUG improved in group I. In the inter-group analysis, only the tone was lower in group II than in group I. Conclusions: Both PNF protocols were effective in treating patients with HAM/TSP.

Amazon landforms and soils in relation to biological diversity

Thirteen main landform units are distinguished for the whole of the forested Amazon region, each with its specific soil pattern and vegetation structure. These landform-soil-vegetation units are delineated on a small-scale map and illustrated by a schematic cross-section. Floristic diversity of the gamma type is to be highest on the steepland-and-valley complexes of the Andean fringe, on the crystalline shield uplands, on the inselberg complexes, and on the eutric variant of the western sedimentary plains. Endemism is expected to be highest on the sandy plains, and parts of the table lands and inselberg complexes. Speciation, linked to the concept of forest refuge areas, is likely to be highest on the sandstone table lands, on the stretches of Amazon planalto, and in the areas of relict valleys, in view of the prolonged geomorphological stability of these units.

Influence of type of binder and sand on the characteristics of masonry mortars

This study deals with the characterization of masonry mortars produced with different binders and sands. Several properties of the mortars were determined, like consistence, compressive and flexural strengths, shrinkage and fracture energy. By varying the type of binder (Portland cement, hydrated lime and hydraulic lime) and the type of sand (natural or artificial), it was possible to draw some conclusions about the influence of the composition on mortars properties. The results showed that the use of Portland cement makes the achievement of high strength classes easier. This was due to the slower hardening of lime compared with cement. The results of fracture energy tests showed much higher values for artificial sand mortars when compared with natural sand ones. This is due to the higher roughness of artificial sand particles which provided better adhesion between sand and binder.

A proactive intelligent decision support system for predicting the popularity of online news

"Lecture notes in computer science series, ISSN 0302-9743, vol. 9273"