Optimal location of the workpiece in a PKM-based machining robotic cell

Most machining tasks require high accuracy and are carried out by dedicated machine-tools. On the other hand, traditional robots are flexible and easy to program, but they are rather inaccurate for certain tasks. Parallel kinematic robots could combine the accuracy and flexibility that are usually needed in machining operations. Achieving this goal requires proper design of the parallel robot. In this chapter, a multi-objective particle swarm optimization algorithm is used to optimize the structure of a parallel robot according to specific criteria. Afterwards, for a chosen optimal structure, the best location of the workpiece with respect to the robot, in a machining robotic cell, is analyzed based on the power consumed by the manipulator during the machining process.

A sensor classification strategy for robotic manipulators using multidimensional scaling technique

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. To test the impacts, a flexible beam is clamped to the end-effector of a manipulator that is programmed in a way such that the rod moves against a rigid surface. Eighteen signals are captured and theirs correlation are calculated. A sensor classification scheme based on the multidimensional scaling technique is presented.

Application of fractional algorithms in the control of a robotic bird

In this paper, it is studied the dynamics of the robotic bird in terms of time response and robustness. It is analyzed the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird should allow testing strategies and different algorithms of control such as integer and fractional controllers.

Towards a GIS-T database design and implementation for public transit planning: the case study of Dar-Es-salaam metropolitan city, Tanzania.

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

Robotic manipulators with vibrations: short time fourier transform of fractional spectra

This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. In order to acquire and study the signals an experimental setup is implemented. The signals are treated through signal processing tools such as the fast Fourier transform and the short time Fourier transform. The results show that the Fourier spectrum of several signals presents a non integer behavior. The experimental study provides valuable results that can assist in the design of a control system to deal with the unwanted effects of vibrations.

The intersection of people, technology and local space. PPGIS and Web in practice for participatory planning

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

Trajectory planning of redundant manipulators using genetic algorithms

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints.

Planning the medical workforce - an analysis of the third repport of the Medical Workforce Standing Advisory Committee

Arquivos de Medicina 1998; 12(4): 246-248

Planeamento da construção repetitiva e não repetitiva – Caso de estudo comparativo

O planeamento da construção tem sido considerado como uma mera burocracia e utilizado essencialmente como uma orientação temporal do desenvolvimento da obra, que se reflete, frequentes vezes, na utilização inadequada das técnicas de planeamento. Com esta dissertação pretende-se oferecer uma nova perspectiva sobre as técnicas e softwares de planeamento e a sua melhor utilização. Contudo, focalizando-se mais nos métodos CPM e LOB, efetua-se o seu planeamento nos softwares Microsoft Project e CCS- Candy respetivamente. Inicia-se este trabalho com uma breve descrição acerca do estado da arte das metodologias e softwares de planeamento da construção. Seguidamente efetua-se a demonstração do planeamento de dois casos de estudo, sendo o primeiro caso de estudo referente ao planeamento da construção de uma ponte com recurso ao Microsoft Project. Realiza-se o cálculo dos rendimentos, dimensionamentos das equipas de trabalho e análise dos diagramas de planeamento fornecido pelo Microsoft Project. No segundo caso de estudo, demonstra-se o planeamento da estrutura de dois edifícios no software CCS - Candy. Efetua-se igualmente o cálculo dos rendimentos, dimensionamento das equipas de trabalho e análise, essencialmente, do Gráfico Espaço/Tempo (LOB). Após a realização do planeamento dos dois casos de estudo, realiza-se uma pequena comparação das duas metodologias, CPM e LOB, referenciando as vantagens e desvantagens da sua utilização no planeamento de obras, seguido de uma breve conclusão. Termina-se esta dissertação com a apresentação das conclusões gerais e das propostas para trabalhos futuros.

From cheating to teaching: a path for conversion of illegal gambling machines

Video poker machines, a former symbol of fraud and gambling in Brazil, are now being converted into computer-based educational tools for Brazilian public primary schools and also for governmental and non-governmental institutions dealing with communities of poverty and social exclusion, in an attempt to reduce poverty risks (decrease money spent on gambling) and promote social inclusion (increase access and motivation to education). Thousands of illegal gambling machines are seized by federal authorities, in Brazil, every year, and usually destroyed at the end of the criminal apprehension process. This paper describes a project developed by the University of Southern Santa Catarina, Brazil, responsible for the conversion process of gambling machines, and the social inclusion opportunities derived from it. All project members worked on a volunteer basis, seeking to promote social inclusion of Brazilian young boys and girls, namely through digital inclusion. So far, the project has been able to convert over 200 gambling machines and install them in over 40 public primary schools, thus directly benefiting more than 12,000 schoolchildren. The initial motivation behind this project was technology based, however the different options arising from the conversion process of the gambling machines have also motivated a rather innovative and unique experience in allowing schoolchildren and young people with special (educational) needs to access to computer-based pedagogical applications. The availability of these converted machines also helps to place Information and Communication Technologies (ICT) in the very daily educational environment of these children and youngsters, thus serving social and cultural inclusion aspects, by establishing a dialogue with the community and their technological expectations, and also directly contributing to their digital literacy.

Conceção, seleção e implementação de um sistema de informação: ERP - enterprise resource planning

As organizações são entidades de natureza sistémica, composta, na sua maioria por várias pessoas que interagindo entre si, se propõem atingir objetivos comuns. Têm, frequentemente, de responder a alterações da envolvente externa através de processos de mudança organizacional, sendo fundamentalmente adaptativas, pois, para sobreviver, precisam de se reajustar continuamente às condições mutáveis do meio. O sucesso das organizações depende da sua capacidade de interação com o meio envolvente, ou seja, da sua capacidade de inovar e operar local ou globalmente, criando novas oportunidades de negócio que importa aproveitar. As tecnologias e os sistemas de informação e a forma como são utilizadas são fatores determinantes nesses processos de evolução e mudança. É necessário que a estratégia de TI esteja alinhada com os objetivos de negócio e que a sua utilização contribua para aumentos de produtividade e de eficiência no seu desempenho. Este trabalho descreve a análise, conceção, seleção e implementação de um Sistema de Informação na Portgás, S.A. baseado de um ERP - Enterprise Resource Planning, capaz de suportar a mudança organizacional e melhorar o desempenho global da organização. Promovendo numa primeira fase um crescimento exponencial do negócio e, de seguida, a adaptação da organização ao mercado concorrencial. O caso descreve o trabalho realizado pelo candidato e por equipas internas e externas, de levantamentos de requisitos gerais, técnicos e funcionais, desenvolvimento de um caderno de encargos, seleção, implementação e exploração de um ERP SAP. A apresentação e discussão do caso são enquadradas numa revisão de literatura sobre o papel das TI nos processos de mudança organizativa, alinhamento estratégico e vantagem competitiva das TI, contributo das TI para o aumento da produtividade, processos adoção e difusão das TI, fatores críticos de sucesso e BPM –Business Process Management

Brownian bridge and other path-dependent Gaussian processes vectorial simulation

The iterative simulation of the Brownian bridge is well known. In this article, we present a vectorial simulation alternative based on Gaussian processes for machine learning regression that is suitable for interpreted programming languages implementations. We extend the vectorial simulation of path-dependent trajectories to other Gaussian processes, namely, sequences of Brownian bridges, geometric Brownian motion, fractional Brownian motion, and Ornstein-Ulenbeck mean reversion process.

Projecto de parceria entre a ONGD Estímulo e a Rede de Farmácias Portuguesas: a união de esforços entre sectores para a resolução de problemas contemporâneos

Trabalho de projeto apresentado à Escola Superior de Comunicação Social como parte dos requisitos para obtenção de grau de mestre em Gestão Estratégica das Relações Públicas.

Strategic Planning and Organizational Effectiveness in Social Service Organizations in Portugal

This study aims to understand the reality of social service organizations, the level of implementation of the strategic planning as well as the impact of its application on organizational effectiveness. At first, we will group organizations in clusters according to the level of strategic planning implementation and its degree of effectiveness. Secondly, we will analyse all the different groups. Given the growing number of social service organizations and the consequent complexity of their structures, it turns out the need for these organizations adopt formal management techniques. Strategic planning is a valuable strategic management tool and one of its main objectives is to make organizations more effective. Therefore, the research has been conducted in order to determine if strategic planning is implemented in social service organizations and which effects has its application on organizational effectiveness. The survey, applied to 220 social service organizations, allowed us to gather them into different clusters, showing that different levels of strategic planning determine distinct degrees of organizational efficiency. Finally, it should be noted that findings of this research may be essential to decision makers of these organizations, because it was shown that the adoption of strategic planning has a positive influence on organizational effectiveness of social service organizations.

Planning smart cities using wireless low energy monitoring systems

Thesis to obtain the Master Degree in Electronics and Telecommunications Engineering