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

Analysis of Natural and Artificial Phenomena Using Signal Processing and Fractional Calculus

In this paper we study several natural and man-made complex phenomena in the perspective of dynamical systems. For each class of phenomena, the system outputs are time-series records obtained in identical conditions. The time-series are viewed as manifestations of the system behavior and are processed for analyzing the system dynamics. First, we use the Fourier transform to process the data and we approximate the amplitude spectra by means of power law functions. We interpret the power law parameters as a phenomenological signature of the system dynamics. Second, we adopt the techniques of non-hierarchical clustering and multidimensional scaling to visualize hidden relationships between the complex phenomena. Third, we propose a vector field based analogy to interpret the patterns unveiled by the PL parameters.

Fractional State Space Analysis of Temperature Time Series

Atmospheric temperatures characterize Earth as a slow dynamics spatiotemporal system, revealing long-memory and complex behavior. Temperature time series of 54 worldwide geographic locations are considered as representative of the Earth weather dynamics. These data are then interpreted as the time evolution of a set of state space variables describing a complex system. The data are analyzed by means of multidimensional scaling (MDS), and the fractional state space portrait (fSSP). A centennial perspective covering the period from 1910 to 2012 allows MDS to identify similarities among different Earth’s locations. The multivariate mutual information is proposed to determine the “optimal” order of the time derivative for the fSSP representation. The fSSP emerges as a valuable alternative for visualizing system dynamics.

Assessing self-organization and emergence in Evolvable Assembly Systems (EAS)

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Analysis of a controversial decision process: the case of the pumped hydro storage power plant Atdorf in Germany

Based on the report for the unit “Métodos Interactivos de Participação e Decisão A” (Interactive methods of participation and decision A), coordinated by Prof. Lia Maldonado Teles de Vasconcelos and Prof. Nuno Miguel Ribeiro Videira Costa. This unit was provided for the PhD Program in Technology Assessment in 2015/2016.

Modern piracy

A definição de pirataria ou a desmistificação da sua origem, no tempo e espaço, revela maiores dificuldades do que atualmente. Com este trabalho propusemo-nos a estudar como é que a pirataria era perpetrada e entendida no passado, bem como no presente. Também nos propomos a identificar limitações legais e as medidas operativas no combate à pirataria, como por exemplo: limites conceptuais, lacunas, estratégias, entre outros. Por outro lado, atendemos as soluções encontradas no combate à pirataria sem deixar de observar fraqueza da lei e conflitos entre jurisdições. Por fim, o curso da história dá-nos a seguinte percepção: a pirataria era tida como crime se fosse contra os interesses das nações. O desinteresse dos Estados para reprimir a pirataria possibilitou o seu aumento, proliferação, domínio e sofisticação em certas regiões do Mundo. O presente trabalho tem como objetivo trazer para o centro da discussão os direitos humanos numa perspetiva tripla: proibição da pirataria, supressão e raízes, aliando o estudo de possíveis respostas a dar a esta epidemia.

Improving the effort concept: a revision of the traditional approach in the context of controlled Dynamic Stochastic Environments

The objective of this paper is to re-evaluate the attitude to effort of a risk-averse decision-maker in an evolving environment. In the classic analysis, the space of efforts is generally discretized. More realistic, this new approach emploies a continuum of effort levels. The presence of multiple possible efforts and performance levels provides a better basis for explaining real economic phenomena. The traditional approach (see, Laffont, J. J. & Tirole, J., 1993, Salanie, B., 1997, Laffont, J.J. and Martimort, D, 2002, among others) does not take into account the potential effect of the system dynamics on the agent's behavior to effort over time. In the context of a Principal-agent relationship, not only the incentives of the Principal can determine the private agent to allocate a good effort, but also the evolution of the dynamic system. The incentives can be ineffective when the environment does not incite the agent to invest a good effort. This explains why, some effici

Simulación de departamentos de urgencias empleando un modelo basado en agentes

Los servicios de salud son sistemas muy complejos, pero de alta importancia, especialmente en algunos momentos críticos, en todo el mundo. Los departamentos de urgencias pueden ser una de las áreas más dinámicas y cambiables de todos los servicios de salud y a la vez más vulnerables a dichos cambios. La mejora de esos departamentos se puede considerar uno de los grandes retos que tiene cualquier administrador de un hospital, y la simulación provee una manera de examinar este sistema tan complejo sin poner en peligro los pacientes que son atendidos. El objetivo de este trabajo ha sido el modelado de un departamento de urgencias y el desarrollo de un simulador que implementa este modelo con la finalidad de explorar el comportamiento y las características de dicho servicio de urgencias. El uso del simulador ofrece la posibilidad de visualizar el comportamiento del modelo con diferentes parámetros y servirá como núcleo de un sistema de ayuda a la toma de decisiones que pueda ser usado en departamentos de urgencias. El modelo se ha desarrollado con técnicas de modelado basado en agentes (ABM) que permiten crear modelos funcionalmente más próximos a la realidad que los modelos de colas o de dinámicas de sistemas, al permitir la inclusión de la singularidad que implica el modelado a nivel de las personas. Los agentes del modelo presentado, descritos internamente como máquinas de estados, representan a todo el personal del departamento de urgencias y los pacientes que usan este servicio. Un análisis del modelo a través de su implementación en el simulador muestra que el sistema se comporta de manera semejante a un departamento de urgencias real.

Genesis of textural contrasts in subsurface soil horizons in the Northern Pantanal-Brazil

The Pantanal region can be characterized as a quaternary floodplain with predominant sedimentation in the form of alluvial fans. In the geomorphologic and sedimentary evolution, the avulsion process is inherent to this depositional system and its dynamics, together with surface water floods, influence soil sedimentation on this plain. The knowledge and differentiation of these two events can contribute to a better understanding of the variability of soil properties and distribution under the influence of these sedimentation processes. Therefore, this study investigated the genesis of soils in the Northern Pantanal with textural contrasts in deeper horizons and their relationship with the depositional system dynamics. We analyzed four soil profiles in the region of Barão de Melgaço, Mato Grosso State, Brazil (RPPN SESC Pantanal). Two profiles were sampled near the Rio Cuiabá (AP1 and AP4) and two near the Rio São Lourenço (AP10 and AP11). In AP11, the horizons contrast in particle size between the profile basis and the surface. In AP1, AP4 and AP10, the horizons overlaying the sand layer have similar particle size properties, mainly in terms of sand distribution. In the first case, floods (surface water) seem to have originated the horizons and layers with contrasting texture. In the second case, avulsion is the most pronounced process. Therefore, the two modes can form soils with contrasting texture that are discriminable by soil morphology, based on the distinct features associated to the specific sedimentation processes.

Designing Digital Filters for Servo Systems

The aim of this work was to select an appropriate digital filter for a servo application and to filter the noise from the measurement devices. Low pass filter attenuates the high frequency noise beyond the specified cut-off frequency. Digital lowpass filters in both IIR and FIR responses were designed and experimentally compared to understand their characteristics from the corresponding step responses of the system. Kaiser Windowing and Equiripple methods were selected for FIR response, whereas Butterworth, Chebyshev, InverseChebyshev and Elliptic methods were designed for IIR case. Limitations in digital filter design for a servo system were analysed. Especially the dynamic influences of each designed filter on the control stabilityof the electrical servo drive were observed. The criterion for the selection ofparameters in designing digital filters for servo systems was studied. Control system dynamics was given significant importance and the use of FIR and IIR responses in different situations were compared to justify the selection of suitableresponse in each case. The software used in the filter design was MatLab/Simulink® and dSPACE's DSP application. A speed controlled Permanent Magnet Linear synchronous Motor was used in the experimental work.

Estimating the Price and Demand Development of Some Paperboard Grades

Työn tavoitteena oli luoda malli, jonka avulla voitaisiin ennustaa kartonkituotteiden hinnan ja kysynnän kehitystä. Työssä kerättiin aluksi tietoa kartonkimarkkinoista haastattelujen ja tilastotietojen avulla. Näiden perusteella luotiin malli, joka kuvaa kartonkimarkkinoiden ja -teollisuuden rakennetta. Erityisesti kiinnitettiin huomiota asiakkaiden tilauskäyttäytymiseen, tuotannonohjaukseen sekä hinnan muodostumiseen. Työssä käytettiin ennustemenetelmänä systeemidynamiikkaa. Oleellista oli löytää systeemissä esiintyvät tärkeimmät takaisinkytkennät ja systeemin avainmuuttujat. Kun kaikille mallin muuttujille oli määritetty yhtälöt ja vakioille annettu arvot, voitiin mallia simuloida, ja saada ennusteet halutuille muuttujille. Työssä esitettiin ennusteet kartonkimarkkinoiden tärkeimmille parametreille kahden vuoden päähän. Työssä tarkasteltiin myös, miten muutokset mallin käyttäytymistä säätelevissä muuttujissa vaikuttavat tuloksiin. Jotta pystyttäisiin paremmin selvittämään koko kartonkiteollisuuden dynamiikka, lisätutkimusta tarvittaisiin vielä eri kartonkilajien substituutiomahdollisuuksista ja hintojen riippuvuuksista. Mielenkiintoista olisi myös tietää, miten tuotannon käyttöasteiden muutokset ja hinnan vaihtelut vaikuttavat liiketoiminnan kannattavuuteen valmistajien näkökulmasta.

Etelä-Karjalan aluebarometri

Tutkimuksen päätavoitteena oli rakentaa Etelä-Karjalan maakunnan alueellinen suhdannebarometri. Aluebarometrilla kuvataan ja analysoidaan alueen toimialojen tuotannon ja työllisyyden kehitystä sekä nykytilannetta tuoreilla, havainnollisilla ja luotettavilla indikaattoreilla. Tutkimusmenetelmänä on konstruktiivinen tutkimus. Aluebarometri toteutettiin kyselytutkimuksena 454:ltä yritykseltä Etelä-Karjalan alueella keväällä 2002. Tulokset on raportoitu toimialoittain sisältäen kyselytutkimuksen 11 indikaattoria sekä kaksi tilastollista muuttujaa. Teoriaosassa tarkasteltiin aluetalouden rakentumista, aluekehitystä, yritysten sijaintiteorioita ja systeemidynamiikkaa. Barometrin konstruoinnin lisäksi empiirisessä osassa analysoitiin maakunnan yritystoiminnan ja toimialarakenteen tyypillisiä piirteitä sekä selvitettiin barometrin käyttäjäkunnan tietotarpeita. Tutkimustulosten mukaan Etelä-Karjalan yritykset odottavat aluebarometrin indikaattoreiden kehittyvän seuraavan kuuden kuukauden ajanjaksolla lievästi myönteiseen suuntaan. Myönteisintä kehitystä odotetaan myynnin ja Venäjän yleisen suhdannetilanteen suhteen. Toimialoista positiivisimmat odotukset ovat informaatioteknologian, liike-elämän palveluiden, muiden palveluiden sekä kaupan aloilla, heikoimmat puolestaan rakentamisen alalla.

Equivalent representation form of oscillators with elastic and damping nonlinear terms

In this work we consider the nonlinear equivalent representation form of oscillators that exhibit nonlinearities in both the elastic and the damping terms. The nonlinear damping effects are considered to be described by fractional power velocity terms which provide better predictions of the dissipative effects observed in some physical systems. It is shown that their effects on the system dynamics response are equivalent to a shift in the coefficient of the linear damping term of a Duffing oscillator. Then, its numerical integration predictions, based on its equivalent representation form given by the well-known forced, damped Duffing equation, are compared to the numerical integration values of its original equations of motion. The applicability of the proposed procedure is evaluated by studying the dynamics response of four nonlinear oscillators that arise in some engineering applications such as nanoresonators, microresonators, human wrist movements, structural engineering design, and chain dynamics of polymeric materials at high extensibility, among others

Co-eletrodeposição oscilatória de cobre e estanho

It is investigated in the present contribution the oscillatory co-electrodeposition of CuSn on a polycrystalline gold surface in the presence of Triton X-100 surfactant and citric acid as additive, in acidic media. The experiments were conducted under potentiostatic control and the system dynamics characterized in terms of the morphology and stability of the current oscillations. Besides modulations in the frequency and amplitude of the current oscillations, several patterned states were observed, including relaxation-like and mixed mode oscillations. The oscillations were found to be very robust and some time series presented regular motions up to about two hours.

Studies on the Multifaceted Interaction of Atoms and an Electromagnetic Field

In this Thesis the interaction of an electromagnetic field and matter is studied from various aspects in the general framework of cold atoms. Our subjects cover a wide spectrum of phenomena ranging from semiclassical few-level models to fully quantum mechanical interaction with structured reservoirs leading to non-Markovian open quantum system dynamics. Within closed quantum systems, we propose a selective method to manipulate the motional state of atoms in a time-dependent double-well potential and interpret the method in terms of adiabatic processes. Also, we derive a simple wave-packet model, based on distributions of generalized eigenstates, explaining the finite visibility of interference in overlapping continuous-wave atom lasers. In the context of open quantum systems, we develop an unraveling of non-Markovian dynamics in terms of piecewise deterministic quantum jump processes confined in the Hilbert space of the reduced system - the non-Markovian quantum jump method. As examples, we apply it for simple 2- and 3-level systems interacting with a structured reservoir. Also, in the context of ion-cavity QED we study the entanglement generation based on collective Dicke modes in experimentally realistic conditions including photonic losses and an atomic spontaneous decay.