An optical flow-based sensing system for reactive mobile robot navigation

This work discusses the use of optical flow to generate the sensorial information a mobile robot needs to react to the presence of obstacles when navigating in a non-structured environment. A sensing system based on optical flow and time-to-collision calculation is here proposed and experimented, which accomplishes two important paradigms. The first one is that all computations are performed onboard the robot, in spite of the limited computational capability available. The second one is that the algorithms for optical flow and time-to-collision calculations are fast enough to give the mobile robot the capability of reacting to any environmental change in real-time. Results of real experiments in which the sensing system here proposed is used as the only source of sensorial data to guide a mobile robot to avoid obstacles while wandering around are presented, and the analysis of such results allows validating the proposed sensing system.

An outline of military technological dynamics as restraints for acquisition, international cooperation and domestic technological development

The expectation that technological returns from defense expenditure through acquisition, international cooperation and domestic research would further national development underappreciates the different technological dynamic of the armed services. This paper outlines the technological dynamic the stems from fighting in the air, at sea and on land, exemplifying consequences for the case of acquisition.

Multi-level governance and social cohesion in the European Union: the assessment of local agents, a study case inside Galicia

Implementing multi-level governance has been a key priority in EU cohesion policy. This study assesses the perceived achievements and shortcomings in implementing European Social Fund by analyzing the deficits and weaknesses as well as the poor participation of local agents who are in direct contact with the beneficiaries in order to design and implement this fund, which is the main financial instrument of EU social policy.

International drivers of Brazilian agricultural cooperation in Africa in the post-2008 economic crisis

This text focuses on the major drivers of Brazilian agricultural cooperation in Africa as conceived and pursued from 2004 to 2014, with emphasis on the impacts of political and economic international changes that took place in that period, and particularly the impacts of the 2008 economic crisis, in framing Brazil's foreign policy and development assistance initiatives. It addresses current international forces and developments at the systemic level, but also analyses recent economic domestic developments, in particular those directly related to Brazilian agriculture and those related to the policy framework of its evolving internationalization. Special attention is paid to the dual dimensions of Brazilian agricultural policy and to its projection in agricultural cooperation as pursed in Africa.

Multi-scale modeling of the mechanical behavior of polymer-based materials

Polymers have become the reference material for high reliability and performance applications. In this work, a multi-scale approach is proposed to investigate the mechanical properties of polymeric based material under strain. To achieve a better understanding of phenomena occurring at the smaller scales, a coupling of a Finite Element Method (FEM) and Molecular Dynamics (MD) modeling in an iterative procedure was employed, enabling the prediction of the macroscopic constitutive response. As the mechanical response can be related to the local microstructure, which in turn depends on the nano-scale structure, the previous described multi-scale method computes the stress-strain relationship at every analysis point of the macro-structure by detailed modeling of the underlying micro- and meso-scale deformation phenomena. The proposed multi-scale approach can enable prediction of properties at the macroscale while taking into consideration phenomena that occur at the mesoscale, thus offering an increased potential accuracy compared to traditional methods.

Coupling Mechanical and Electrical Behavior in the Multi-scale Simulation of Polymer-based CNT Nanocomposites

A numeric model has been proposed to investigate the mechanical and electrical properties of a polymeric/carbon nanotube (CNT) composite material subjected to a deformation force. The reinforcing phase affects the behavior of the polymeric matrix and depends on the nanofiber aspect ratio and preferential orientation. The simulations show that the mechanical behavior of a computer generated material (CGM) depends on fiber length and initial orientation in the polymeric matrix. It is also shown how the conductivity of the polymer/CNT composite can be calculated for each time step of applied stress, effectively providing the ability to simulate and predict strain-dependent electrical behavior of CNT nanocomposites.

Measuring fund performance using multi-factor models: evidence for the Portuguese market

This paper examines the performance of Portuguese equity funds investing in the domestic and in the European Union market, using several unconditional and conditional multi-factor models. In terms of overall performance, we find that National funds are neutral performers, while European Union funds under-perform the market significantly. These results do not seem to be a consequence of management fees. Overall, our findings are supportive of the robustness of conditional multi-factor models. In fact, Portuguese equity funds seem to be relatively more exposed to smallcaps and more value-oriented. Also, they present strong evidence of time-varying betas and, in the case of the European Union funds, of time-varying alphas too. Finally, in terms of market timing, our tests suggest that mutual fund managers in our sample do not exhibit any market timing abilities. Nevertheless, we find some evidence of timevarying conditional market timing abilities but only at the individual fund level.

Predicting the mechanical behavior of amorphous polymeric materials under strain through multi-scale simulation

Polymeric materials have become the reference material for high reliability and performance applications. However, their performance in service conditions is difficult to predict, due in large part to their inherent complex morphology, which leads to non-linear and anisotropic behavior, highly dependent on the thermomechanical environment under which it is processed. In this work, a multiscale approach is proposed to investigate the mechanical properties of polymeric-based material under strain. To achieve a better understanding of phenomena occurring at the smaller scales, the coupling of a finite element method (FEM) and molecular dynamics (MD) modeling, in an iterative procedure, was employed, enabling the prediction of the macroscopic constitutive response. As the mechanical response can be related to the local microstructure, which in turn depends on the nano-scale structure, this multiscale approach computes the stress-strain relationship at every analysis point of the macro-structure by detailed modeling of the underlying micro- and meso-scale deformation phenomena. The proposed multiscale approach can enable prediction of properties at the macroscale while taking into consideration phenomena that occur at the mesoscale, thus offering an increased potential accuracy compared to traditional methods.

Multi-centre validation of an automatic algorithm for fast 4D myocardial segmentation in cine CMR datasets

Quantitative analysis of cine cardiac magnetic resonance (CMR) images for the assessment of global left ventricular morphology and function remains a routine task in clinical cardiology practice. To date, this process requires user interaction and therefore prolongs the examination (i.e. cost) and introduces observer variability. In this study, we sought to validate the feasibility, accuracy, and time efficiency of a novel framework for automatic quantification of left ventricular global function in a clinical setting.

Multi-attribute classification of housing conservation status in urban regeneration actions

Urban regeneration is more and more a “universal issue” and a crucial factor in the new trends of urban planning. It is no longer only an area of study and research; it became part of new urban and housing policies. Urban regeneration involves complex decisions as a consequence of the multiple dimensions of the problems that include special technical requirements, safety concerns, socio-economic, environmental, aesthetic, and political impacts, among others. This multi-dimensional nature of urban regeneration projects and their large capital investments justify the development and use of state-of-the-art decision support methodologies to assist decision makers. This research focuses on the development of a multi-attribute approach for the evaluation of building conservation status in urban regeneration projects, thus supporting decision makers in their analysis of the problem and in the definition of strategies and priorities of intervention. The methods presented can be embedded into a Geographical Information System for visualization of results. A real-world case study was used to test the methodology, whose results are also presented.

Simulador multi-agente para o mercado eléctrico

Esta dissertação, apresenta um simulador multi-agente para o mercado eléctrico. Neste simulador agentes heterogéneos, racionalmente limitados e com capacidade de aprendizagem, co-evoluem dinamicamente. O modelo de mercado apresentado é inspirado no mercado diário do MIBEL. É um modelo Pool, gerido por uma entidade operadora de mercado, onde compradores e vendedores podem licitar energia. No lado vendedor, empresas produtoras licitam a energia das suas unidades produtoras em pares quantidadepre ço. Por outro lado, uma vez que o cenário simulado é um mercado de venda, o comprador apresenta uma procura xa, i.e., submete apenas quantidades de energia. Todas as entidades do mercado eléctrico são vistas no sistema multi-agente, modelado através da plataforma INGENIAS, como agentes autónomos. Pelos resultados obtidos nas experiências feitas, confere-se que o simulador é uma ferramenta de apoio à tomada de decisão, pois ajuda a compreender o comportamento emergente do mercado e avalia o impacto das acções escolhidas, manualmente, pelo utilizador ou, automaticamente, atrav és da aprendizagem por reforço. A aprendizagem por reforço visa facilitar a tomada de decisão humana na venda de energia, licitando a energia das unidades produtoras de forma a maximizar os lucros.

Aplicação de gravação e edição de áudio multi-faixa colaborativa

Os programas de gravação e edição de áudio em ambientes multi-faixa são populares entre os músicos, para desenvolverem o seu trabalho. Estes programas apresentam funcionalidades de gravação e edição, mas não promovem o trabalho colaborativo entre músicos. De forma a colaborar, os vários elementos de uma banda musical têm de se reunir no mesmo local físico. Com este trabalho pretende-se criar uma solução para a colaboração no contexto da gravação e edição de áudio. Tem-se como objectivo o desenvolvimento de uma aplicação distribuída que facilite a gravação e edição de áudio, estando os elementos de cada banda musical em localizações físicas distintas. A aplicação desenvolvida tem funcionalidades de manipulação de áudio, bem como mecanismos para a sincronização do trabalho entre os vários elementos da banda. A manipulação de áudio consiste em reprodução, gravação, codificação e edição de áudio. O áudio é manipulado no formato Microsoft WAV, resultante da digitalização do áudio em Pulse Code Modulation (PCM) e posteriormente codificado em FLAC (Free Lossless Audio Codec) ou MP3 (Mpeg-1 Layer 3) de forma a minimizar a dimensão do ficheiro, diminuindo assim o espaço que ocupa em disco e a largura de banda necessária à sua transmissão pela internet. A edição consiste na aplicação de operações como amplificação, ecos, entre outros. Os elementos da banda instalam no seu computador a aplicação cliente, com interface gráfica onde desenvolvem o seu trabalho. Esta aplicação cliente mantém a lógica de sincronização do trabalho colaborativo, inserindo-se como um dos peers da arquitectura peer-to-peer híbrida da aplicação distribuída. Estes peers comunicam entre si, enviando informação acerca das operações aplicadas e áudio gravado pelos membros da banda.