A visual system for distributed mosaics using an auvs fleet

The use of teams of Autonomous Underwater Vehicles for visual inspection tasks is a promising robotic field. The images captured by different robots can be also to aid in the localization/navigation of the fleet. In a previous work, a distributed localization system was presented based on the use of Augmented States Kalman Filter through the visual maps obtained by the fleet. In this context, this paper details a system for on-line construction of visual maps and its use to aid the localization and navigation of the robots. Different aspects related to the capture, treatment and construction of mosaics by fleets of robots are presented. The developed system can be executed on-line on different robotic platforms. The paper is concluded with a series of tests and analyses aiming at to system validation.

Requirement Risk Level Forecast Using Bayesian Networks Classifiers

Requirement engineering is a key issue in the development of a software project. Like any other development activity it is not without risks. This work is about the empirical study of risks of requirements by applying machine learning techniques, specifically Bayesian networks classifiers. We have defined several models to predict the risk level for a given requirement using three dataset that collect metrics taken from the requirement specifications of different projects. The classification accuracy of the Bayesian models obtained is evaluated and compared using several classification performance measures. The results of the experiments show that the Bayesians networks allow obtaining valid predictors. Specifically, a tree augmented network structure shows a competitive experimental performance in all datasets. Besides, the relations established between the variables collected to determine the level of risk in a requirement, match with those set by requirement engineers. We show that Bayesian networks are valid tools for the automation of risks assessment in requirement engineering.

Contributo do sistema integrado de comunicação e manipulação no desenvolvimento e aprendizagem de crianças com paralisia cerebral em contexto educativo/escolar

Dissertação apresentada à Escola Superior de Educação de Lisboa para obtenção do grau de mestre em Educação Especial – ramo de Problemas de Cognição e Multideficiência

Dynamic set pieces for CAMBADA team

Robotics is an emergent branch of engineering that involves the conception, manufacture, and control of robots. It is a multidisciplinary field that combines electronics, design, computer science, artificial intelligence, mechanics and nanotechnology. Its evolution results in machines that are able to perform tasks with some level of complexity. Multi-agent systems is a researching topic within robotics, thus they allow the solving of higher complexity problems, through the execution of simple routines. Robotic soccer allows the study and development of robotics and multiagent systems, as the agents have to work together as a team, having in consideration most problems found in our quotidian, as for example adaptation to a highly dynamic environment as it is the one of a soccer game. CAMBADA is the robotic soccer team belonging to the group of research IRIS from IEETA, composed by teachers, researchers and students of the University of Aveiro, which annually has as main objective the participation in the RoboCup, in the Middle Size League. The purpose of this work is to improve the coordination in set pieces situations. This thesis introduces a new behavior and the adaptation of the already existing ones in the offensive situation, as well as the proposal of a new positioning method in defensive situations. The developed work was incorporated within the competition software of the robots. Which allows the presentation, in this dissertation, of the experimental results obtained, through simulation software as well as through the physical robots on the laboratory.

Configurable Web Warehouses construction through BPM Systems

The process of building Data Warehouses (DW) is well known with well defined stages but at the same time, mostly carried out manually by IT people in conjunction with business people. Web Warehouses (WW) are DW whose data sources are taken from the web. We define a flexible WW, which can be configured accordingly to different domains, through the selection of the web sources and the definition of data processing characteristics. A Business Process Management (BPM) System allows modeling and executing Business Processes (BPs) providing support for the automation of processes. To support the process of building flexible WW we propose a two BPs level: a configuration process to support the selection of web sources and the definition of schemas and mappings, and a feeding process which takes the defined configuration and loads the data into the WW. In this paper we present a proof of concept of both processes, with focus on the configuration process and the defined data.

Desenvolvimento de solenóides para eletroválvulas hidráulicas

Os solenóides para eletroválvulas, em conjunto com outros produtos e equipamentos, permitem a automação dos sistemas de distribuição de águas não potáveis, como, por exemplo, em sistemas de rega. Deste modo é possível controlar diversos parâmetros, como o caudal e a pressão da água que passa na válvula, podendo estes ser fiscalizados à distância. Neste trabalho, foram desenvolvidos solenóides para acoplar a válvulas que se destinam à rega agrícola, comercializadas pela empresa JPrior, Fábrica de Plásticos, Lda. Para o efeito, foram definidos vários processos necessários para a criação de uma linha piloto de pré industrialização destes dispositivos. Etapas como a conceção do dispositivo, prototipagem, testes de temperatura, consumo de corrente, estabilidade eletromecânica e testes de desempenho associados a diferentes valores de pressão e de caudal de funcionamento, foram essenciais para este desenvolvimento, assim como, análises estruturais e morfológicas do material que constitui o núcleo dos solenóides. Além disso, procurou-se responder às necessidades do mercado numa perspetiva mais completa do que a existente. Para isso, foram produzidos dois tipos de solenóides de 24 V AC, com pressões máximas de funcionamento de 4 bar e de 12 bar.

Automatização de um dinamômetro hidráulico para ensaios de motores de combustão interna

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Mecânica, 2015.

Cloud Computing to Automate Information Units

This article will address the main technical aspects that facilitate the use and growth of computer technology in the cloud, which go hand in hand with the emergence of more and better services on the Internet and technological development of the broadband. Finally, we know what is the impact that the cloud computing technologies in the automation of information units.

Corpos tatuados : experiências sensíveis em realidade aumentada móvel

Tese (doutorado)—Universidade de Brasília, Instituto de Artes, Programa de Pós-Graduação em Artes, 2015.

Os sistemas de Informação, Gestão e Apoio Operacional no apoio à tomada de decisão : O Sistema de Gestão das Salas de Situação

Assistimos hodiernamente à automatização de procedimentos nas organizações, dado à inserção das novas tecnologias, e mais em concreto das ferramentas computacionais, no ambiente organizacional. Esta automatização permite a simplificação do processo de tomada de decisão, a manipulação de dados e lidar com o excesso de informação. No seu dia-a-dia, a Guarda Nacional Republicana enfrenta uma elevada diversidade e complexidade de ocorrências, que motiva a utilização de um sistema de informação que se constitua como primeira linha da Gestão das Ocorrências, permitindo ao comandante gerir criteriosamente os seus meios no processo de tomada de decisão. Este trabalho de investigação tem como objetivo descrever de que forma pode o Sistema de Gestão das Salas de Situação influenciar a tomada de decisão. Para tal foi realizado um estudo de caso, reunindo um grupo de sete Chefes de Sala de Situação, reunindo-os num painel de especialistas para aplicar o método de Delphi, visando inferir as potencialidades do sistema e as vulnerabilidades sentidas pelos operadores. Foram também aplicados inquéritos por questionário aos operadores do sistema no sentido de compreender a sua perceção de utilidade desta ferramenta na gestão de meios. A análise de resultados permitiu verificar que o Sistema de Gestão das Salas de Situação é uma importante ferramenta na gestão de ocorrências, ao fornecer informação necessária à tomada de decisão do comandante, embora possua imperfeições que necessitam de ser mitigadas, no sentido de serem exploradas as potencialidades na sua plenitude. Conclui-se com esta investigação que o Sistema de Gestão das Salas de Situação facilita a tomada de decisão ao fornecer informações acerca das ocorrências ativas na zona de ação da sua Unidade, bem como das patrulhas disponíveis. Este sistema, deve ser complementado com a utilização do Sistema de Informação de Gestão dos meios SIRESP, para que o comandante consiga percecionar a localização das patrulhas disponíveis. Desta forma, o comandante consegue tomar decisões de maneira mais sustentada, permitindo a rápida mobilização dos recursos policiais, visando a excelência operacional e o aumento de eficácia da ação policial.

Automação da drenagem no teste de produção convencional em tanque cilíndrico

This document aims to improve the quality of the production test in vertical tanks with free water drain pipes, through a device to control the draining system. This proposal consists of an interface detector close to the tank bottle and a control valve on the pipe-drain; they are attached to a remote supervisor system, which will be minimizing the human influence in the conclusion of the test result. And for more consciousness the work shows the importance of the wells production test in the attendance and diagnosis of the productive process, informing the large number of tests executed and problems of the procedure adopted in the field today. There are many possible sources of uncertainty in this kind of test as shown in the experiments realized in the field; the object prototype of this dissertation will be made in the field, based upon the definition of parameters and characteristics of the devices proposal. For a better definition of the draining process the action results of the assessment test are shown, especially changed some for the understand ing of the real process. It shows the proposal details and the configuration that will be used in the tank of Monte Alegre s field Production Station, explaining the interface detector kind and the control system. It is the base to a pilot project now in development, named as the new project classified in the status of the new technology and production improvement of PETROBRAS in Rio Grande do Norte and Ceará. This dissertation concludes that the automation of the conventional test with the draining system will bring benefits both economically as metrologically, because it reduces the uncertainty of the test procedures with free water draining, and also decreases the number of tests with problems

Ambiente computacional paradesenvolvimento de aplicações de controladores lógicos programáveis baseado em linguagens SFC e ST

This work proposes an environment for programming programmable logic controllers applied to oil wells with BCP type method of artificially lifting. The environment will have an editor based in the diagram of sequential functions for programming of PLCs. This language was chosen due to the fact of being high-level and accepted by the international standard IEC 61131-3. The use of these control programs in real PLC will be possible with the use of an intermediate level of language based on XML specification PLCopen T6 XML. For the testing and validation of the control programs, an area should be available for viewing variables obtained through communication with a real PLC. Thus, the main contribution of this work is to develop a computational environment that allows: modeling, testing and validating the controls represented in SFC and applied in oil wells with BCP type method of artificially lifting

Controle aplicado a poços com método de elevação e bombeio centrífugo submerso

The Electrical Submersible Pumping is an artificial lift method for oil wells employed in onshore and offshore areas. The economic revenue of the petroleum production in a well depends on the oil flow and the availability of lifting equipment. The fewer the failures, the lower the revenue shortfall and costs to repair it. The frequency with which failures occur depends on the operating conditions to which the pumps are submitted. In high-productivity offshore wells monitoring is done by operators with engineering support 24h/day, which is not economically viable for the land areas. In this context, the automation of onshore wells has clear economic advantages. This work proposes a system capable of automatically control the operation of electrical submersible pumps, installed in oil wells, by an adjustment at the electric motor rotation based on signals provided by sensors installed on the surface and subsurface, keeping the pump operating within the recommended range, closest to the well s potential. Techniques are developed to estimate unmeasured variables, enabling the automation of wells that do not have all the required sensors. The automatic adjustment, according to an algorithm that runs on a programmable logic controller maintains the flow and submergence within acceptable parameters avoiding undesirable operating conditions, as the gas interference and high engine temperature, without need to resort to stopping the engine, which would reduce the its useful life. The control strategy described, based on modeling of physical phenomena and operational experience reported in literature, is materialized in terms of a fuzzy controller based on rules, and all generated information can be accompanied by a supervisory system

A agonia do insecto: Abordagem psicológica à obra de Franz Kafka

Dissertação de Mestrado apresentada ao Instituto Superior de Psicologia Aplicada para obtenção de grau de Mestre na especialidade de Psicologia Clínica.

Hardware processors for pairing-based cryptography

Bilinear pairings can be used to construct cryptographic systems with very desirable properties. A pairing performs a mapping on members of groups on elliptic and genus 2 hyperelliptic curves to an extension of the finite field on which the curves are defined. The finite fields must, however, be large to ensure adequate security. The complicated group structure of the curves and the expensive field operations result in time consuming computations that are an impediment to the practicality of pairing-based systems. The Tate pairing can be computed efficiently using the ɳT method. Hardware architectures can be used to accelerate the required operations by exploiting the parallelism inherent to the algorithmic and finite field calculations. The Tate pairing can be performed on elliptic curves of characteristic 2 and 3 and on genus 2 hyperelliptic curves of characteristic 2. Curve selection is dependent on several factors including desired computational speed, the area constraints of the target device and the required security level. In this thesis, custom hardware processors for the acceleration of the Tate pairing are presented and implemented on an FPGA. The underlying hardware architectures are designed with care to exploit available parallelism while ensuring resource efficiency. The characteristic 2 elliptic curve processor contains novel units that return a pairing result in a very low number of clock cycles. Despite the more complicated computational algorithm, the speed of the genus 2 processor is comparable. Pairing computation on each of these curves can be appealing in applications with various attributes. A flexible processor that can perform pairing computation on elliptic curves of characteristic 2 and 3 has also been designed. An integrated hardware/software design and verification environment has been developed. This system automates the procedures required for robust processor creation and enables the rapid provision of solutions for a wide range of cryptographic applications.