Controlo de um robô autónomo através de redes neuronais

Neste trabalho pretende-se introduzir os conceitos associados às redes neuronais e a sua aplicação no controlo de sistemas, neste caso na área da robótica autónoma. Foi utilizado um AGV de modo a testar experimentalmente um controlo através de uma rede neuronal artificial. A grande vantagem das redes neuronais artificiais é estas poderem ser ensinadas a funcionarem como se pretende. A partir desta caraterística foram efetuadas duas abordagens na implementação do AGV disponibilizado. A primeira abordagem ensinava a rede neuronal a funcionar como o controlo por lógica difusa que foi implementado no AGV aquando do seu desenvolvimento. A segunda abordagem foi ensinar a rede neuronal artificial a funcionar a partir de dados retirados de um controlo remoto simples implementado no AGV. Ambas as abordagens foram inicialmente implementadas e simuladas no MATLAB, antes de se efetuar a sua implementação no AGV. O MATLAB é utilizado para efetuar o treino das redes neuronais multicamada proactivas através do algoritmo de treino por retropropagação de Levenberg-Marquardt. A implementação de uma rede neuronal artificial na primeira abordagem foi implementada em três fases, MATLAB, posteriormente linguagem de programação C no computador e por fim, microcontrolador PIC no AGV, permitindo assim diferenciar o desenvolvimento destas técnicas em várias plataformas. Durante o desenvolvimento da segunda abordagem foi desenvolvido uma aplicação Android que permite monitorizar e controlar o AGV remotamente. Os resultados obtidos pela implementação da rede neuronal a partir do controlo difuso e do controlo remoto foram satisfatórios, pois o AGV percorria os percursos testados corretamente, em ambos os casos. Por fim concluiu-se que é viável a aplicação das redes neuronais no controlo de um AGV. Mais ainda, é possível utilizar o sistema desenvolvido para implementar e testar novas RNA.

Run-time defragmentation for dynamically reconfigurable hardware

Reconfigurable computing experienced a considerable expansion in the last few years, due in part to the fast run-time partial reconfiguration features offered by recent SRAM-based Field Programmable Gate Arrays (FPGAs), which allowed the implementation in real-time of dynamic resource allocation strategies, with multiple independent functions from different applications sharing the same logic resources in the space and temporal domains. However, when the sequence of reconfigurations to be performed is not predictable, the efficient management of the logic space available becomes the greatest challenge posed to these systems. Resource allocation decisions have to be made concurrently with system operation, taking into account function priorities and optimizing the space currently available. As a consequence of the unpredictability of this allocation procedure, the logic space becomes fragmented, with many small areas of free resources failing to satisfy most requests and so remaining unused. A rearrangement of the currently running functions is therefore necessary, so as to obtain enough contiguous space to implement incoming functions, avoiding the spreading of their components and the resulting degradation of system performance. A novel active relocation procedure for Configurable Logic Blocks (CLBs) is herein presented, able to carry out online rearrangements, defragmenting the available FPGA resources without disturbing functions currently running.

Liver morphology with emphasis on bile ducts changes and survival analysis in mice submitted to multiple Schistosoma mansoni infections and chemotherapy

In an attempt to be as close as possible to the infected and treated patients of the endemic areas of schistosomiasis (S. mansoni) and in order to achieve a long period of follow-up, mice were repeatedly infected with a low number of cercariae. Survival data and histological variables such as schistosomal granuloma, portal changes, hepatocellular necrosis, hepatocellular regeneration, schistosomotic pigment, periductal fibrosis and chiefly bile ducts changes were analysed in the infected treated and non treated mice. Oxamniquine chemotherapy in repeatedly infected mice prolonged survival significantly when compared to non-treated animals (chi-square 9.24, p = 0.0024), thus confirming previous results with a similar experimental model but with a shorter term follow-up. Furthermore, mortality decreased rapidly after treatment suggesting an abrupt reduction in the severity of hepatic lesions. A morphological and immunohistochemical study of the liver was carried out. Portal fibrosis, with a pattern resembling human Symmers fibrosis was present at a late phase in the infected animals. Bile duct lesions were quite close to those described in human Mansonian schistosomiasis. Schistosomal antigen was observed in one isolated altered bile duct cell. The pathogenesis of the bile duct changes and its relation to the parasite infection and/or their antigens are discussed.

Reason Maintenance Systems: Tools for Foundations-based Belief Revision

Dynamic and distributed environments are hard to model since they suffer from unexpected changes, incomplete knowledge, and conflicting perspectives and, thus, call for appropriate knowledge representation and reasoning (KRR) systems. Such KRR systems must handle sets of dynamic beliefs, be sensitive to communicated and perceived changes in the environment and, consequently, may have to drop current beliefs in face of new findings or disregard any new data that conflicts with stronger convictions held by the system. Not only do they need to represent and reason with beliefs, but also they must perform belief revision to maintain the overall consistency of the knowledge base. One way of developing such systems is to use reason maintenance systems (RMS). In this paper we provide an overview of the most representative types of RMS, which are also known as truth maintenance systems (TMS), which are computational instances of the foundations-based theory of belief revision. An RMS module works together with a problem solver. The latter feeds the RMS with assumptions (core beliefs) and conclusions (derived beliefs), which are accompanied by their respective foundations. The role of the RMS module is to store the beliefs, associate with each belief (core or derived belief) the corresponding set of supporting foundations and maintain the consistency of the overall reasoning by keeping, for each represented belief, the current supporting justifications. Two major approaches are used to reason maintenance: single-and multiple-context reasoning systems. Although in the single-context systems, each belief is associated to the beliefs that directly generated it—the justification-based TMS (JTMS) or the logic-based TMS (LTMS), in the multiple context counterparts, each belief is associated with the minimal set of assumptions from which it can be inferred—the assumption-based TMS (ATMS) or the multiple belief reasoner (MBR).

Multiple linear and principal component regressions for modelling ecotoxicity bioassay response

The ecotoxicological response of the living organisms in an aquatic system depends on the physical, chemical and bacteriological variables, as well as the interactions between them. An important challenge to scientists is to understand the interaction and behaviour of factors involved in a multidimensional process such as the ecotoxicological response.With this aim, multiple linear regression (MLR) and principal component regression were applied to the ecotoxicity bioassay response of Chlorella vulgaris and Vibrio fischeri in water collected at seven sites of Leça river during five monitoring campaigns (February, May, June, August and September of 2006). The river water characterization included the analysis of 22 physicochemical and 3 microbiological parameters. The model that best fitted the data was MLR, which shows: (i) a negative correlation with dissolved organic carbon, zinc and manganese, and a positive one with turbidity and arsenic, regarding C. vulgaris toxic response; (ii) a negative correlation with conductivity and turbidity and a positive one with phosphorus, hardness, iron, mercury, arsenic and faecal coliforms, concerning V. fischeri toxic response. This integrated assessment may allow the evaluation of the effect of future pollution abatement measures over the water quality of Leça River.

Multiple Linear Regression and Artificial Neural Networks to Predict Time and Efficiency of Soil Vapor Extraction

The prediction of the time and the efficiency of the remediation of contaminated soils using soil vapor extraction remain a difficult challenge to the scientific community and consultants. This work reports the development of multiple linear regression and artificial neural network models to predict the remediation time and efficiency of soil vapor extractions performed in soils contaminated separately with benzene, toluene, ethylbenzene, xylene, trichloroethylene, and perchloroethylene. The results demonstrated that the artificial neural network approach presents better performances when compared with multiple linear regression models. The artificial neural network model allowed an accurate prediction of remediation time and efficiency based on only soil and pollutants characteristics, and consequently allowing a simple and quick previous evaluation of the process viability.

Multi-strand narrative structures: a filmic game of multiple players

Session 7: Playing with Roles, images and improvising New States of Awareness, 3rd Global Conference, 1st November – 3rd November, 2014, Prague, Czech Republic.

Multiple Roots of Systems of Equations by Repulsion Merit Functions

In this paper we address the problem of computing multiple roots of a system of nonlinear equations through the global optimization of an appropriate merit function. The search procedure for a global minimizer of the merit function is carried out by a metaheuristic, known as harmony search, which does not require any derivative information. The multiple roots of the system are sequentially determined along several iterations of a single run, where the merit function is accordingly modified by penalty terms that aim to create repulsion areas around previously computed minimizers. A repulsion algorithm based on a multiplicative kind penalty function is proposed. Preliminary numerical experiments with a benchmark set of problems show the effectiveness of the proposed method.

Deterministic approach for multiple-source tsunami hazard assessment for Sines, Portugal

In this paper, we present a deterministic approach to tsunami hazard assessment for the city and harbour of Sines, Portugal, one of the test sites of project ASTARTE (Assessment, STrategy And Risk Reduction for Tsunamis in Europe). Sines has one of the most important deep-water ports, which has oil-bearing, petrochemical, liquid-bulk, coal, and container terminals. The port and its industrial infrastructures face the ocean southwest towards the main seismogenic sources. This work considers two different seismic zones: the Southwest Iberian Margin and the Gloria Fault. Within these two regions, we selected a total of six scenarios to assess the tsunami impact at the test site. The tsunami simulations are computed using NSWING, a Non-linear Shallow Water model wIth Nested Grids. In this study, the static effect of tides is analysed for three different tidal stages: MLLW (mean lower low water), MSL (mean sea level), and MHHW (mean higher high water). For each scenario, the tsunami hazard is described by maximum values of wave height, flow depth, drawback, maximum inundation area and run-up. Synthetic waveforms are computed at virtual tide gauges at specific locations outside and inside the harbour. The final results describe the impact at the Sines test site considering the single scenarios at mean sea level, the aggregate scenario, and the influence of the tide on the aggregate scenario. The results confirm the composite source of Horseshoe and Marques de Pombal faults as the worst-case scenario, with wave heights of over 10 m, which reach the coast approximately 22 min after the rupture. It dominates the aggregate scenario by about 60 % of the impact area at the test site, considering maximum wave height and maximum flow depth. The HSMPF scenario inundates a total area of 3.5 km2. © Author(s) 2015.

Materials selection for a set of multiple parts considering manufacturing costs and weight reduction with structural isoperformance using direct multisearch optimization

Materials selection is a matter of great importance to engineering design and software tools are valuable to inform decisions in the early stages of product development. However, when a set of alternative materials is available for the different parts a product is made of, the question of what optimal material mix to choose for a group of parts is not trivial. The engineer/designer therefore goes about this in a part-by-part procedure. Optimizing each part per se can lead to a global sub-optimal solution from the product point of view. An optimization procedure to deal with products with multiple parts, each with discrete design variables, and able to determine the optimal solution assuming different objectives is therefore needed. To solve this multiobjective optimization problem, a new routine based on Direct MultiSearch (DMS) algorithm is created. Results from the Pareto front can help the designer to align his/hers materials selection for a complete set of materials with product attribute objectives, depending on the relative importance of each objective.

Robot visual localization through local feature fusion: an evaluation of multiple classifiers combination approaches

In the last decade, local image features have been widely used in robot visual localization. In order to assess image similarity, a strategy exploiting these features compares raw descriptors extracted from the current image with those in the models of places. This paper addresses the ensuing step in this process, where a combining function must be used to aggregate results and assign each place a score. Casting the problem in the multiple classifier systems framework, in this paper we compare several candidate combiners with respect to their performance in the visual localization task. For this evaluation, we selected the most popular methods in the class of non-trained combiners, namely the sum rule and product rule. A deeper insight into the potential of these combiners is provided through a discriminativity analysis involving the algebraic rules and two extensions of these methods: the threshold, as well as the weighted modifications. In addition, a voting method, previously used in robot visual localization, is assessed. Furthermore, we address the process of constructing a model of the environment by describing how the model granularity impacts upon performance. All combiners are tested on a visual localization task, carried out on a public dataset. It is experimentally demonstrated that the sum rule extensions globally achieve the best performance, confirming the general agreement on the robustness of this rule in other classification problems. The voting method, whilst competitive with the product rule in its standard form, is shown to be outperformed by its modified versions.

Multiple sequence alignment correction using constraints

Trabalho apresentado no âmbito do European Master in Computational Logics, como requisito parcial para obtenção do grau de Mestre em Computational Logics

Estimation of infection rate in epidemic models with multiple populations

Dissertação para obtenção do Grau de Mestre em Matemática e Aplicações Especialização em Actuariado, Estatística e Investigação Operacional

Confluent peripheral multiple mononeuropathy associated to acute hepatitis B: a case report

A thirty three year-old, male patient was admitted at the Hospital of the São Paulo University School of Medicine, at the city of São Paulo, Brazil, with complaint of pains, tingling and decreased sensibility in the right hand for the last four months. This had progressed to the left hand, left foot and right foot, in addition to a difficulty of flexing and stretching in the left foot. Tests were positive for HBeAg, IgM anti-HBc and HBsAg, thus characterizing the condition of acute hepatitis B. The ALT serum level was 15 times above the upper normal limit. Blood glucose, cerebral spinal fluid, antinuclear antibodies (ANA) and anti-HIV and anti-HCV serum tests were either normal or negative. Electroneuromyography disclosed severe peripheral neuropathy with an axon prevalence and signs of denervation; nerve biopsy disclosed intense vasculitis. The diagnosis of multiple confluent mononeuropathy associated to acute hepatitis B was done. This association is not often reported in international literature and its probable cause is the direct action of the hepatitis B virus on the nerves or a vasculitis of the vasa nervorum brought about by deposits of immune complexes.

Combining open and closed world reasoning for the semantic web

Dissertação para obtenção do Grau de Doutor em Informática