Chaotic Phenomena and Performance Optimization in the Trajectory Control of Redundant Manipulators

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of abstacles, and the resolution of singularities. For this type of manipulators, several kinetic algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by theseproblems this paper presents a new method that ptimizes the manipulability through a least squre polynomialapproximation to determine the joints positions. Moreover, the article studies influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiment confirm the superior performance of the proposed algorithm for redundant and hyper-redundant manipulators, revealing several fundamental properties of the chaotic phenomena, and gives a deeper insight towards the future development of superior trajectory control algorithms.

Rede de Calor – Uma Solução a Biomassa para um Complexo de Hóteis

O recurso às energias renováveis é na actualidade um tema que atinge um grau de importância primordial face á crescente preocupação com o meio ambiente e o impacto negativo, que a produção de energia com base em combustíveis fósseis tem. Esta importância aliada a uma tendência cada vez maior para a criação de soluções de produção sustentável de energia, tem obrigado ao desenvolvimento desta vertente do sector energético e ao estudo e consequentemente implementação de soluções integradas que permitam uma economia competitiva. Os hotéis, sendo estabelecimentos comerciais que desenvolvem uma actividade que envolve, na generalidade, um nível de consumo energético considerável para garantir os seus serviços básicos de acomodação e lazer, tornam-se por excelência alvos primordiais no que concerne ao seu elevado potencial de poupança de energia. O ramo da hotelaria, dada a sua especificidade e a natureza dos edifícios que comporta, torna-os em excelentes candidatos para análise e optimização energética, e como tal um alvo de negócio para as empresas de comercialização de poupanças energéticas. As empresas dedicadas aos serviços de energia são conhecidas por ESCO (Energy Service Company ou Energy Savings Company). A sua actividade tem por base apresentar soluções de energia, nomeadamente a implementação de projectos de poupança energética que podem englobar produção, conservação e fornecimento de energia, bem como gestão de risco associada. O objectivo principal é apresentar soluções de optimização e eficiência energética levando á sua implementação em casos reais de exploração em edifícios ou sectores específicos, rentabilizando o investimento e partilhando o lucro dessa rentabilização com os clientes. No caso específico dos hotéis, mais concretamente um complexo de hotéis, como o estudado neste trabalho, esta análise pretende elaborar uma caracterização das necessidades energéticas do sector e apresentar um conjunto de soluções energéticas adequadas à realidade hoteleira. É também objecto de análise, toda a aproximação de um modelo de negócio energético a explorar por uma ESCO. O presente trabalho, realizado no âmbito da parceria entre a Gebio e a Confraria do Bom Jesus, tem por objectivo demonstrar as bases do contracto de performance entre uma empresa ESCO (Gebio – empresa concessionária do projecto) e um complexo de hotéis (constituído pelo Hotel do Lago, Hotel do Parque e Hotel do Templo), com vista a optimizar os consumos energéticos para a produção de energia térmica capaz de corresponder às necessidades do complexo. Foi desenvolvido um estudo completo das necessidades térmicas do complexo, com vista a projectar uma solução integrada de produção de energia térmica, com recurso a uma caldeira de biomassa, para os hotéis. Foi realizado um levantamento extensivo dos consumos e custos energético do complexo, nomeadamente para as águas quentes sanitárias. Desta análise obtiveram-se os custos reais do sistema e com os mesmos foi possível, numa primeira fase, elaborar os diversos projectos, hidráulico, eléctricos e civil, de forma a se definir a solução base e quais os orçamentos previstos para a instalação de um sistema de produção a biomassa, e numa segunda fase foi estudada a viabilidade da assinatura de um contracto de performance entre a ESCO e o complexo de hotéis.

Asymmetric taxation in a competition between nonprofit and for-profit firms

This paper considers a Cournot competition between a nonprofit firm and a for-profit firm in a homogeneous goods market, with uncertain demand. Given an asymmetric tax schedule, we compute explicitly the Bayesian-Nash equilibrium. Furthermore, we analize the effects of the tax rate and the degree of altruistic preference on market equilibrium outcomes.

Uncertainty on a Bertrand duopoly with product differentiation

The conclusions of the Bertrand model of competition are substantially altered by the presence of either differentiated goods or asymmetric information about rival’s production costs. In this paper, we consider a Bertrand competition, with differentiated goods. Furthermore, we suppose that each firm has two different technologies, and uses one of them according to a certain probability distribution. The use of either one or the other technology affects the unitary production cost. We show that this game has exactly one Bayesian Nash equilibrium. We do ex-ante and ex-post analyses of firms’ profits and market prices. We prove that the expected profit of each firm increases with the variance of its production costs. We also show that the expected price of each good increases with both expected production costs, being the effect of the expected production costs of the rival dominated by the effect of the own expected production costs.

Optimization of the Sybr Green real time PCR for the detection of Human Herpes Virus type 6 (HHV-6)

HHV-6 is the etiological agent of Exanthem subitum which is considered the sixth most frequent disease in infancy. In immuno-compromised hosts, reactivation of latent HHV-6 infection may cause severe acute disease. We developed a Sybr Green Real Time PCR for HHV-6 and compared the results with nested conventional PCR. A 214 pb PCR derived fragment was cloned using pGEM-T easy from Promega system. Subsequently, serial dilutions were made in a pool of negative leucocytes from 10-6 ng/µL (equivalent to 2465.8 molecules/µL) to 10-9 (equivalent to 2.46 molecules/µL). Dilutions of the plasmid were amplified by Sybr Green Real Time PCR, using primers HHV3 (5' TTG TGC GGG TCC GTT CCC ATC ATA 3)'and HHV4 (5' TCG GGA TAG AAA AAC CTA ATC CCT 3') and by conventional nested PCR using primers HHV1 (outer): 5'CAA TGC TTT TCT AGC CGC CTC TTC 3'; HHV2 (outer): 5' ACA TCT ATA ATT TTA GAC GAT CCC 3'; HHV3 (inner) and HHV4 (inner) 3'. The detection threshold was determined by plasmid serial dilutions. Threshold for Sybr Green real time PCR was 24.6 molecules/µL and for the nested PCR was 2.46 molecules/µL. We chose the Real Time PCR for diagnosing and quantifying HHV-6 DNA from samples using the new Sybr Green chemistry due to its sensitivity and lower risk of contamination.

A multi-objective optimization of the active and reactive resource scheduling at a distribution level in a smart grid context

In the traditional paradigm, the large power plants supply the reactive power required at a transmission level and the capacitors and transformer tap changer were also used at a distribution level. However, in a near future will be necessary to schedule both active and reactive power at a distribution level, due to the high number of resources connected in distribution levels. This paper proposes a new multi-objective methodology to deal with the optimal resource scheduling considering the distributed generation, electric vehicles and capacitor banks for the joint active and reactive power scheduling. The proposed methodology considers the minimization of the cost (economic perspective) of all distributed resources, and the minimization of the voltage magnitude difference (technical perspective) in all buses. The Pareto front is determined and a fuzzy-based mechanism is applied to present the best compromise solution. The proposed methodology has been tested in the 33-bus distribution network. The case study shows the results of three different scenarios for the economic, technical, and multi-objective perspectives, and the results demonstrated the importance of incorporating the reactive scheduling in the distribution network using the multi-objective perspective to obtain the best compromise solution for the economic and technical perspectives.

A multi-objective model for scheduling of short-term incentive-based demand response programs offered by electricity retailers

In this paper, we formulate the electricity retailers’ short-term decision-making problem in a liberalized retail market as a multi-objective optimization model. Retailers with light physical assets, such as generation and storage units in the distribution network, are considered. Following advances in smart grid technologies, electricity retailers are becoming able to employ incentive-based demand response (DR) programs in addition to their physical assets to effectively manage the risks of market price and load variations. In this model, the DR scheduling is performed simultaneously with the dispatch of generation and storage units. The ultimate goal is to find the optimal values of the hourly financial incentives offered to the end-users. The proposed model considers the capacity obligations imposed on retailers by the grid operator. The profit seeking retailer also has the objective to minimize the peak demand to avoid the high capacity charges in form of grid tariffs or penalties. The non-dominated sorting genetic algorithm II (NSGA-II) is used to solve the multi-objective problem. It is a fast and elitist multi-objective evolutionary algorithm. A case study is solved to illustrate the efficient performance of the proposed methodology. Simulation results show the effectiveness of the model for designing the incentive-based DR programs and indicate the efficiency of NSGA-II in solving the retailers’ multi-objective problem.

Optimization of the Tartrate-Resistant Acid Phosphatase Detection by Histochemical Method

According to the new KDIGO (Kidney Disease Improving Global Outcomes) guidelines, the term of renal osteodystrophy, should be used exclusively in reference to the invasive diagnosis of bone abnormalities. Due to the low sensitivity and specificity of biochemical serum markers of bone remodelling,the performance of bone biopsies is highly stimulated in dialysis patients and after kidney transplantation. The tartrate-resistant acid phosphatase (TRACP) is an iso-enzyme of the group of acid phosphatases, which is highly expressed by activated osteoclasts and macrophages. TRACP in osteoclasts is in intracytoplasmic vesicles that transport the products of bone matrix degradation. Being present in activated osteoclasts, the identification of this enzyme by histochemistry in undecalcified bone biopsies is an excellent method to quantify the resorption of bone. Since it is an enzymatic histochemical method for a thermolabile enzyme, the temperature at which it is performed is particularly relevant. This study aimed to determine the optimal temperature for identification of TRACP in activated osteoclasts in undecalcified bone biopsies embedded in methylmethacrylate. We selected 10 cases of undecalcified bone biopsies from hemodialysis patients with the diagnosis of secondary hyperparathyroidism. Sections of 5 μm were stained to identify TRACP at different incubation temperatures (37º, 45º, 60º, 70º and 80ºC) for 30 minutes. Activated osteoclasts stained red and trabecular bone (mineralized bone) was contrasted with toluidine blue. This approach also increased the visibility of the trabecular bone resorption areas (Howship lacunae). Unlike what is suggested in the literature and in several international protocols, we found that the best results were obtained with temperatures between 60ºC and 70ºC. For technical reasons and according to the results of the present study, we recommended that, for an incubation time of 30 minutes, the reaction should be carried out at 60ºC. As active osteoclasts are usually scarce in a bone section, the standardization of the histochemistry method is of great relevance, to optimize the identification of these cells and increase the accuracy of the histomosphometric results. Our results, allowing an increase in osteoclasts contrast, also support the use of semi-automatic histomorphometric measurements.

Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

Modelling and optimization of the ion exchange membrane bioreactor for removal of anionic pollutants from drinking water streams

Dissertação para obtenção do Grau de Doutor em Engenharia Química, especialidade de Engenharia Bioquímica

Otimização do Funcionamento de Caldeiras Aquatubulares em Indústria de Processo Químico

O presente trabalho centrou-se na otimização do rendimento térmico de duas caldeiras aquatubulares da empresa RAR- Refinaria de Açúcar Reunidas, com a finalidade de identificar onde ocorrem perdas de energia e, desta forma, propor soluções para a sua minimização. Para tal, realizaram-se ensaios em duas caldeiras da empresa providas de queimadores mistos, ou seja podem operar com fuelóleo e gás natural, tanto individualmente, como simultaneamente, sendo que para a realização dos ensaios apenas se utilizou o fuelóleo devido ao seu menor custo. Na caldeira designada por 1 realizaram-se ensaios para os caudais de 300, 500, 800, 1000, 1200, 1400 e 1600 kg/h de fuelóleo. A gama de rendimentos térmicos obtida foi entre 88,3 e 91,2%. Na caldeira designada por 3, efetuaram-se ensaios para os caudais de fuelóleo de 300, 500, 700, 900, 1000, 1200, 1400, 1500 e 1800 kg/h e os rendimentos térmicos obtidos foram entre 85,2 e 88,0%. Em ambas as caldeiras e para caudais baixos verificou-se que a quantidade de ar introduzida no processo de combustão era superior à necessária, conduzindo a uma diminuição dos valores de rendimento térmico. Para 500 kg/h de fuelóleo, por exemplo, a quantidade de ar utilizada foi cerca de duas vezes superiores ao valor estequiométrico. Tendo em conta estes factos, foi proposto ao gestor de energia a implementação de uma nova relação de ar/combustível vs caudal de combustível no sistema de controlo das referidas caldeiras. Após alguns testes (excluindo 300 kg/h de fuelóleo devido a questões de operação), considerou-se como caudal mínimo de operação os 500 Kg/h de fuelóleo nas respetivas caldeiras 1 e 3. Verificou-se que os rendimentos térmicos aumentaram, no caso da caldeira 1, para valores entre os 90,1 e 91,3% e, na caldeira 3, para valores entre 89,0 e 90,9%. Por fim, efetuou-se uma breve análise económica com o intuito de se avaliar e quantificar o que a empresa pode poupar com esta medida. O lucro anual pode oscilar entre 14.400 e 62.640€ ou 104.400 e 136.800€, para as caldeiras 1 e 3, respetivamente.

Optimization of fMRI Processing Parameters for Simutaneous Acquisition of EEG/fMRI in Focal Epilepsy

In the context of focal epilepsy, the simultaneous combination of electroencephalography (EEG) and functional magnetic resonance imaging (fMRI) holds a great promise as a technique by which the hemodynamic correlates of interictal spikes detected on scalp EEG can be identified. The fact that traditional EEG recordings have not been able to overcome the difficulty in correlating the ictal clinical symptoms to the onset in particular areas of the lobes, brings the need of mapping with more precision the epileptogenic cortical regions. On the other hand, fMRI suggested localizations more consistent with the ictal clinical manifestations detected. This study was developed in order to improve the knowledge about the way parameters involved in the physical and mathematical data, produced by the EEG/fMRI technique processing, would influence the final results. The evaluation of the accuracy was made by comparing the BOLD results with: the high resolution EEG maps; the malformative lesions detected in the T1 weighted MR images; and the anatomical localizations of the diagnosed symptomatology of each studied patient. The optimization of the set of parameters used, will provide an important contribution to the diagnosis of epileptogenic focuses, in patients included on an epilepsy surgery evaluation program. The results obtained allowed us to conclude that: by associating the BOLD effect with interictal spikes, the epileptogenic areas are mapped to localizations different from those obtained by the EEG maps representing the electrical potential distribution across the scalp (EEG); there is an important and solid bond between the variation of particular parameters (manipulated during the fMRI data processing) and the optimization of the final results, from which smoothing, deleted volumes, HRF (used to convolve with the activation design), and the shape of the Gamma function can be certainly emphasized.

Portfolio optimization with options

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Finance from the NOVA – School of Business and Economics

When not-for-profit try to influence firms

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Finance from the NOVA – School of Business and Economics

The impact of corporate social responsibility on consumer behavior: The role of profit-seeking and altruistic perceived motives

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics