Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Towards the Certification of Multicore Platforms in the Avionics Domain

Presented at Work in Progress Session, The 28th GI/ITG International Conference on Architecture of Computing Systems (ARCS 2015). 24 to 27, Mar, 2015. Porto, Portugal.

Training and discovering corpus-based data driven exercices in english teaching (L2/FL) to native speakers of portuguese (L1)

Project submitted as part requirement for the degree of Masters in English teaching,

Testing Nelder-Mead Based Repulsion Algorithms for Multiple Roots of Nonlinear Systems via a Two-Level Factorial Design of Experiments

This paper addresses the challenging task of computing multiple roots of a system of nonlinear equations. A repulsion algorithm that invokes the Nelder-Mead (N-M) local search method and uses a penalty-type merit function based on the error function, known as 'erf', is presented. In the N-M algorithm context, different strategies are proposed to enhance the quality of the solutions and improve the overall efficiency. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm. The main goal of this paper is to use a two-level factorial design of experiments to analyze the statistical significance of the observed differences in selected performance criteria produced when testing different strategies in the N-M based repulsion algorithm.

Significance of Biogenic Amines in Cold-Smoked Fish and Their Relation to Microbiological Characteristics of Products Available in Portuguese Retail Markets

Studies on microbial characterization of cold-smoked salmon and salmon trout during cold storage were performed on samples available in the Portuguese market. Samples were also classified microbiologically according to guidelines for ready-to-eat (RTE) products. Further investigations on sample variability and microbial abilities to produce tyramine and histamine were also performed. The coefficient of variation for viable counts of different groups of microorganisms of samples collected at retail market point was high in the first 2 wk of storage, mainly in the Enterobacteriaceae group and aerobic plate count (APC), suggesting that microbiological characteristics of samples were different in numbers, even within the same batch from the same producer. This variation seemed to be decreased when storage and temperature were controlled under lab conditions. The numbers of Enterobacteriaceae were influenced by storage temperature, as indicated by low microbial numbers in samples from controlled refrigeration. Lactic acid bacteria (LAB) and Enterobacteriaceae were predominant in commercial products, a significant percentage of which were tyramine and less histamine producers. These results might be influenced by (1) the technological processes in the early stages of production, (2) contamination during the smoking process, and (3) conditions and temperature fluctuations during cold storage at retail market point of sale.

Postmenopausal Bleeding and Endometrial Changes: Clinical Significance?

Introduction: Postmenopausal bleeding is a common complaint from women seen in general practice, although majority of them, will have no major problem. Objective: Study of endometrium in postmenopausal women with suspicious sonographic endometrial changes. Comparison of findings in asymptomatic women and those who reported metrorrhagia. Methods: Consultation of outpatient medical records of 487 women undergoing endometrial study (sonohysterography, hysteroscopy), between January/2004 and July/2010. Patients were subdivided into two groups: women with (G1) and without (G2) complaints of postmenopausal metrorrhagia. Results: G1 and G2 comprises 78 and 409 women, respectively. G1: 23.1% normal uterine cavity, 74.3% benign pathology (majority endometrial polyps) and 2.6% of them endometrial carcinoma. G2: 14.4% normal uterine cavity, 83.7% benign pathology (majority endometrial polyps), 1.4% endometrial hyperplasia and endometrial carcinoma in 0.49%. Conclusion: Postmenopausal metrorrhagia is associated with an increased risk of endometrial malignancy, in relation to asymptomatic, although represents a minority of the population. To highlight the existence of premalignant and malignant pathology in asymptomatic endometrial thickening.

A framework for scientific computing with GPUs

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Parallelization of web processing services on cloud computing: A case study of Geostatistical Methods

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

The significance of Traveler's Route Knowledge for Choice of commuting mode of transport

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

Insights into the biological significance of alternative splicing in Arabidopsis: functional characterization of a dual-targeted E3 ligase and the SCL30a SR protein

Dissertation presented to obtain the Ph.D degree in Molecular Biology

Context-aware personalization environment for mobile computing

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Processo de desenvolvimento e difusão de cloud computing: estudo sobre as redes de colaboração no Brasil

Com base no relatório de Projecto III para o Programa Doutoral em Avaliação de Tecnologia (2011-2012)

Cloud computing adoption - Determinants of cloud computing adoption by firms

Dissertação apresentada como requisito parcial para obtenção do grau de Mestre em Estatística e Gestão de Informação

Printed electronics for ubiquitous computing applications

Dissertação para obtenção do Grau de Doutor em Química

Chemical approaches to ubiquitous computing

Dissertação apresentada para obtenção do Grau de Doutor em Química, perfil de Química Física, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia