Supervisão, comando e controlo para sistemas robóticos

Mestrado em Engenharia Electrotécnica e de Computadores. Área de Especialização em Sistemas Autónomos

Is action research necessarily collaborative? Discussing some findings from the RRC project

ECER 2014 "The Past, the Present and Future of Educational Research in Europe" will take place at the University of Porto from 1 - 5 September 2014.

Sistema de percepção visual para veículos autónomos aéreos

Esta dissertação aborda o problema de detecção e desvio de obstáculos "SAA- Sense And Avoid" em movimento para veículos aéreos. Em particular apresenta contribuições tendo em vista a obtenção de soluções para permitir a utilização de aeronaves não tripuladas em espaço aéreo não segregado e para aplicações civis. Estas contribuições caracterizam-se por: uma análise do problema de SAA em \UAV's - Unmmaned Aerial Vehicles\ civis; a definição do conceito e metodologia para o projecto deste tipo de sistemas; uma proposta de \ben- chmarking\ para o sistema SAA caracterizando um conjunto de "datasets\ adequados para a validação de métodos de detecção; respectiva validação experimental do processo e obtenção de "datasets"; a análise do estado da arte para a detecção de \Dim point features\ ; o projecto de uma arquitectura para uma solução de SAA incorporando a integração de compensação de \ego motion" e respectiva validação para um "dataset" recolhido. Tendo em vista a análise comparativa de diferentes métodos bem como a validação de soluções foi proposta a recolha de um conjunto de \datasets" de informação sensorial e de navegação. Para os mesmos foram definidos um conjunto de experiências e cenários experimentais. Foi projectado e implementado um setup experimental para a recolha dos \datasets" e realizadas experiências de recolha recorrendo a aeronaves tripuladas. O setup desenvolvido incorpora um sistema inercial de alta precisão, duas câmaras digitais sincronizadas (possibilitando análise de informa formação stereo) e um receptor GPS. As aeronaves alvo transportam um receptor GPS com logger incorporado permitindo a correlação espacial dos resultados de detecção. Com este sistema foram recolhidos dados referentes a cenários de aproximação com diferentes trajectórias e condições ambientais bem como incorporando movimento do dispositivo detector. O método proposto foi validado para os datasets recolhidos tendo-se verificado, numa análise preliminar, a detecção do obstáculo (avião ultraleve) em todas as frames para uma distância inferior a 3 km com taxas de sucesso na ordem dos 95% para distâncias entre os 3 e os 4 km. Os resultados apresentados permitem validar a arquitectura proposta para a solução do problema de SAA em veículos aéreos autónomos e abrem perspectivas muito promissoras para desenvolvimento futuro com forte impacto técnico-científico bem como sócio-economico. A incorporação de informa formação de \ego motion" permite fornecer um forte incremento em termos de desempenho.

Simulação e controlo de veículos autónomos terrestres

A implementação e venda de robôs autónomos tem sido um sector que nos últimos anos tem adquirido cada vez mais quota no mercado, nomeadamente no sector militar, agrícola e da vigilância. Como tal, tem sido também de grande importância a capacidade de implementar e testar robôs por parte das entidades que os fabricam. Uma das formas que tem garantido o sucesso do desenvolvimento de robôs é a simulação prévia dos mesmos antes que estes passem a fase de produção. Sendo assim, o LSA como entidade de desenvolvimento de robôs autónomos, tem necessidade de adquirir um sistema que simule os robôs em desenvolvimento. O trabalho desta tese consiste na realização de um sistema que simule robôs autónomos terrestres de forma que se possa observar o comportamento da cinemática, dinânica e hardware dos robôs em ambiente 3D. Esta aplicação de simulação pode mais tarde ser utilizada pelo laboratório para testar missões, validar alterações de estrutura, sensores, etc. Para além disso, com recurso ao simulador Player/Stage/Gazebo testar o robô LINCE e implementar algoritmos de controlo para o mesmo. Os algoritmos de controlo implementados baseiam-se em primitivas de controlo básico para serem utilizadas pelo sistema de navegação e gerar trajectórias complexas. Os algoritmos desenvolvidos nesta tese baseiam-se nas equações cinemáticas do veículo estudado. Estes algoritmos depois de testados no simulador, poderão ser colocados no Hardware do robô. Desta forma consegue-se desenvolver algoritmos para determinado robô sem que este esteja operacional.

Reflexão sobre o programa preliminar de reabilitação do salão paroquial e zonas contíguas do complexo paroquial da igreja matriz de Nossa Senhora da Conceição da Amadora

Projecto para obtenção do grau de Mestre em Engenharia Civil na Área de Especialização em Edificações

Projeto de obra de arte pré-fabricada: passagem superior de 3 vãos

Trabalho de Projeto de Natureza Científica para obtenção do grau de Mestre em Engenharia Civil

Project finance

O Project Finance é uma forma de financiamento de projetos inovadora, muito utilizada nos Estados Unidos e na Europa e que se aplica essencialmente a projetos de grande escala devido às características subjacentes. Este tema é relevante devido às condições financeiras, sociais e políticas que estamos a viver. As empresas enfrentam muitas adversidades para manter o seu negócio em bom funcionamento, procurando obter vantagens competitivas, mas isso torna-se difícil quando estas não possuem meios financeiros e de gestão para sustentar os investimentos. E é aqui que o Project Finance tem um papel importante, pois é um tipo de financiamento que pode facilitar a execução de projetos em qualquer lugar do mundo, mais particularmente nos países em desenvolvimento em que as empresas enfrentam dificuldades em obter recursos financeiros.

TRAILER Project (Tagging, Recognition, Acknowledgment of Informal Learning Experiences) a methodology to make learners' informal learning activities visible to the institutions

The application of information technologies (specially the Internet, Web 2.0 and social tools) make informal learning more visible. This kind of learning is not linked to an institution or a period of time, but it is important enough to be taken into account. On the one hand, learners should be able to communicate to the institutions they are related to, what skills they possess, whether they were achieved in a formal or informal way. On the other hand the companies and educational institutions need to have a deeper knowledge about the competencies of their staff. The TRAILER project provides a methodology supported by a technological framework to facilitate communication about informal learning between businesses, employees and learners. The paper presents the project and some of the work carried out, an exploratory analysis about how informal learning is considered and the technological framework proposed. Whilst challenges remain in terms of establishing the meaningfulness of technological engagement for employees and businesses, the continuing transformation of the social, technological and educational environment is likely to lead to greater emphasis for the effective exploitation of informal learning.

Supporting conceptualisation processes in collaborative networks: a case study on an R&D project

The development of new products or processes involves the creation, re-creation and integration of conceptual models from the related scientific and technical domains. Particularly, in the context of collaborative networks of organisations (CNO) (e.g. a multi-partner, international project) such developments can be seriously hindered by conceptual misunderstandings and misalignments, resulting from participants with different backgrounds or organisational cultures, for example. The research described in this article addresses this problem by proposing a method and the tools to support the collaborative development of shared conceptualisations in the context of a collaborative network of organisations. The theoretical model is based on a socio-semantic perspective, while the method is inspired by the conceptual integration theory from the cognitive semantics field. The modelling environment is built upon a semantic wiki platform. The majority of the article is devoted to developing an informal ontology in the context of a European R&D project, studied using action research. The case study results validated the logical structure of the method and showed the utility of the method.

Communication protocol for the rempli project

The overall goal of the REMPLI project is to design and implement a communication infrastructure for distributed data acquisition and remote control operations using the power grid as the communication medium. The primary target application is remote meter reading with high time resolution, where the meters can be energy, heat, gas, or water meters. The users of the system (e.g. utility companies) will benefit from the REMPLI system by gaining more detailed information about how energy is consumed by the end-users. In this context, the power-line communication (PLC) is deployed to cover the distance between utility company’s Private Network and the end user. This document specifies a protocol for real-time PLC, in the framework of the REMPLI project. It mainly comprises the Network Layer and Data Link Layer. The protocol was designed having into consideration the specific aspects of the network: different network typologies (star, tree, ring, multiple paths), dynamic changes in network topology (due to network maintenance, hazards, etc.), communication lines strongly affected by noise.

QoS of IP services in a fieldbus network: on the limitations and possible improvements

This paper focuses on the problem of providing efficient scheduling mechanisms for IP packets encapsulated in the frames of a real-time fieldbus network - the PROFIBUS. The approach described consists on a dual-stack approach encompassing both the controlrelated traffic ("native" fieldbus traffic) and the IPrelated traffic. The overall goal is to maintain the hard real-time guarantees of the control-related traffic, while at the same time providing the desired quality of service (QoS) to the coexistent IP applications. We start to describe the work which have been up to now carried out in the framework of the European project RFieldbus (High Performance Wireless Fieldbus in Industrial Multimedia-Related Environments - IST-1999-11316). Then we identify its limitations and point out solutions that are now being addressed out of the framework of the above-mentioned European project.

A high performance wireless fieldbus in industrial multimedia-related environment

This paper summarises the most important solutions that have emerged from the work carried out by our team within the framework of the EU (IST-1999-11316) project RFieldbus - High Performance Wireless Fieldbus in Industrial Multimedia-Related Environment. Within this project, Profibus was chosen as the fieldbus platform. Essentially, extensions to the current Profibus standard are being developed in order to provide Profibus with wireless, mobility and industrialmultimedia capabilities. In fact, providing these extensions means fulfilling strong requirements, namely to encompass the communication between wired (currently available) and wireless/mobile devices and to support real-time control traffic and multimedia traffic in the same network.

CIDER - envisaging a COTS communication infrastructure for evolutionary dependable real-time systems

It is foreseen that future dependable real-time systems will also have to meet flexibility, adaptability and reconfigurability requirements. Considering the distributed nature of these computing systems, a communication infrastructure that permits to fulfil all those requirements is thus of major importance. Although Ethernet has been used primarily as an information network, there is a strong belief that some very recent technological advances will enable its use in dependable applications with real-time requirements. Indeed, several recently standardised mechanisms associated with Switched-Ethernet seem to be promising to enable communication infrastructures to support hard real-time, reliability and flexible distributed applications. This paper describes the motivation and the work being developed within the CIDER (Communication Infrastructure for Dependable Evolvable Real-Time Systems) project, which envisages the use of COTS Ethernet as an enabling technology for future dependable real-time systems. It is foreseen that the CIDER approach will constitute a relevant stream of research since it will bring together cutting edge research in the field of real-time and dependable distributed systems and the industrial eagerness to expand Ethernet responsabilities to support dependable real-time applications.

INDEPTH: timeliness assessment of ethernet/IP-based systems

The continuous improvement of Ethernet technologies is boosting the eagerness of extending their use to cover factory-floor distributed real time applications. Indeed, it is remarkable the considerable amount of research work that has been devoted to the timing analysis of Ethernet-based technologies in the past few years. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness in a holistic fashion. To this end, we address an approach, based on simulation, aiming at extracting temporal properties of commercial-off-the-shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is applied to a specific COTS technology, Ethernet/IP. We reason about the modeling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide useful results on timeliness. The approach is part of a wider framework related to the research project INDEPTH NDustrial-Ethernet ProTocols under Holistic analysis.

Enabling inter-domain transactions in bridge-based hybrid wired/wireless PROFIBUS networks

The marriage of emerging information technologies with control technologies is a major driving force that, in the context of the factory-floor, is creating an enormous eagerness for extending the capabilities of currently available fieldbus networks to cover functionalities not considered up to a recent past. Providing wireless capabilities to such type of communication networks is a big share of that effort. The RFieldbus European project is just one example, where PROFIBUS was provided with suitable extensions for implementing hybrid wired/wireless communication systems. In RFieldbus, interoperability between wired and wireless components is achieved by the use specific intermediate networking systems operating as repeaters, thus creating a single logical ring (SLR) network. The main advantage of the SLR approach is that the effort for protocol extensions is not significant. However, a multiple logical ring (MLR) approach provides traffic and error isolation between different network segments. This concept was introduced in, where an approach for a bridge-based architecture was briefly outlined. This paper will focus on the details of the inter-Domain Protocol (IDP), which is responsible for handling transactions between different network domains (wired or wireless) running the PROFIBUS protocol.