Modeling and control of a dragonfly-like robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

Trends Of CPU, GPU and FPGA for high-performance computing

Floating-point computing with more than one TFLOP of peak performance is already a reality in recent Field-Programmable Gate Arrays (FPGA). General-Purpose Graphics Processing Units (GPGPU) and recent many-core CPUs have also taken advantage of the recent technological innovations in integrated circuit (IC) design and had also dramatically improved their peak performances. In this paper, we compare the trends of these computing architectures for high-performance computing and survey these platforms in the execution of algorithms belonging to different scientific application domains. Trends in peak performance, power consumption and sustained performances, for particular applications, show that FPGAs are increasing the gap to GPUs and many-core CPUs moving them away from high-performance computing with intensive floating-point calculations. FPGAs become competitive for custom floating-point or fixed-point representations, for smaller input sizes of certain algorithms, for combinational logic problems and parallel map-reduce problems. © 2014 Technical University of Munich (TUM).

Two cooperating manipulators with fractional controllers

This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

On the use of particle swarm optimization to maximize bending stiffness of functionally graded structures

Functionally graded materials are a type of composite materials which are tailored to provide continuously varying properties, according to specific constituent's mixing distributions. These materials are known to provide superior thermal and mechanical performances when compared to the traditional laminated composites, because of this continuous properties variation characteristic, which enables among other advantages, smoother stresses distribution profiles. Therefore the growing trend on the use of these materials brings together the interest and the need for getting optimum configurations concerning to each specific application. In this work it is studied the use of particle swarm optimization technique for the maximization of a functionally graded sandwich beam bending stiffness. For this purpose, a set of case studies is analyzed, in order to enable to understand in a detailed way, how the different optimization parameters tuning can influence the whole process. It is also considered a re-initialization strategy, which is not a common approach in particle swarm optimization as far as it was possible to conclude from the published research works. As it will be shown, this strategy can provide good results and also present some advantages in some conditions. This work was developed and programmed on symbolic computation platform Maple 14. (C) 2013 Elsevier B.V. All rights reserved.

Optimization of structures modeled with a Meshfree approach

Radial basis functions are being used in different scientific areas in order to reproduce the geometrical modeling of an object/structure, as well as to predict its behavior. Due to its characteristics, these functions are well suited for meshfree modeling of physical quantities, which for instances can be associated to the data sets of 3D laser scanning point clouds. In the present work the geometry of a structure is modeled by using multiquadric radial basis functions, and its configuration is further optimized in order to obtain better performances concerning to its static and dynamic behavior. For this purpose the authors consider the particle swarm optimization technique. A set of case studies is presented to illustrate the adequacy of the meshfree model used, as well as its link to particle swarm optimization technique. © 2014 IEEE.

A cor na pintura balinesa: caracterização dos pigmentos da pintura balinesa

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Conservação e Restauro

A study on the modeling of sandwich functionally graded particulate composites

Dual-phase functionally graded materials are a particular type of composite materials whose properties are tailored to vary continuously, depending on its two constituent's composition distribution, and which use is increasing on the most diverse application fields. These materials are known to provide superior thermal and mechanical performances when compared to the traditional laminated composites, exactly because of this continuous properties variation characteristic, which enables among other advantages smoother stresses distribution profile. In this paper we study the influence of different homogenization schemes, namely the schemes due to Voigt, Hashin-Shtrikman and Mod-Tanaka, which can be used to obtain bounds estimates for the material properties of particulate composite structures. To achieve this goal we also use a set of finite element models based on higher order shear deformation theories and also on first order theory. From the studies carried out, on linear static analyses and on free vibration analyses, it is shown that the bounds estimates are as important as the deformation kinematics basis assumed to analyse these types of multifunctional structures. Concerning to the homogenization schemes studied, it is shown that Mori-Tanaka and Hashin-Shtrikman estimates lead to less conservative results when compared to Voigt rule of mixtures.

Investigation of structural effects and behaviour of pseudomonas aeruginosa amidase encapsulated in reserved micelles

The acetohydroxamic acid synthesis reaction was studied using whole cells, cell-free extract and purified amidase from the strains of Pseudomonas aeruginosa L10 and A13 entrapped in a reverse micelles system composed of cationic surfactant tetradecyltrimethyl ammonium bromide. The specific activity of amidase, yield of synthesis and storage stability were determined for the reversed micellar system as well as for free amidase in conventional buffer medium. The results have revealed that amidase solutions in the reverse micelles system exhibited a substantial increase in specific activity, yield of synthesis and storage stability. In fact, whole cells from P. aeruginosa L10 and AI3 in reverse micellar medium revealed an increase in specific activity of 9.3- and 13.9-fold, respectively, relatively to the buffer medium. Yields of approximately 92% and 66% of acetohydroxamic acid synthesis were obtained for encapsulated cell free extract from P. aeruginosa L10 and A13, respectively. On the other hand, the half-life values obtained for the amidase solutions encapsulated in reverse micelles were overall higher than that obtained for the free amidase solution in buffer medium. Half-life values obtained for encapsulated purified amidase from P. aeruginosa strain L10 and encapsulated cell-free extract from P. aeruginosa strain AI3 were of 17.0 and 26.0 days, respectively. As far as the different sources biocatalyst are concerned, the data presented in this work has revealed that the best results, in both storage stability and biocatalytic efficiency, were obtained when encapsulated cell-free extract from P. aeruginosa strain AI3 at 14/0 of 10 were used. Conformational changes occurring upon encapsulation of both strains enzymes in reverse micelles of TAB in heptane/octanol were additionally identified by FTIR spectroscopy which clarified the biocatalysts performances.

Conceções alternativas de alunos do 2.º ano de escolaridade sobre a reprodução humana

Relatório de Estágio apresentado à Escola Superior de Educação de Lisboa para obtenção de grau de mestre em Ensino do 1.º e 2.º ciclo do Ensino Básico

Influência do modelo de governação das administrações portuárias no seu desempenho

Mestrado em Auditoria

Persistência no desempenho dos fundos de investimento em ações

Mestrado em Contabilidade e Análise Financeira

Da “Senhora dos Mil Nomes”: Invocações e Performatividades

Nesta comunicação pretende-se, num primeiro momento, dar uma ideia das muitas invocações marianas existentes no Ribatejo, ou seja, dos muitos “nomes” por que é invocada a “Senhora dos Mil Nomes”, nesta região do país. O estudo centrou-se, contudo, no culto à Senhora de Alcamé, nas Lezírias, Vila Franca de Xira: da tradição à “retradição” (Jeremy Boissevain) do culto. A Lenda (variantes), performances e imprensa local.

Write-erase and read paper memory transistor

Applied Physics Letters, Vol.93, issue 20

Sem corpo, sem problemas: narradores e contadores de histórias

Ora combinando técnicas da narração oral, ora enfatizando o uso da linguagem, todos os espectáculos estudados neste ensaio lidam com a palavra antes de olharem para o corpo. A mîse en oralité presente em todas estas criações permitia ao corpo desaparecer em palco e tornar-se (aparentemente) um simples veículo para a palavra. Contudo, é claro que este número de desaparecimento apenas vem acentuar a importância do corpo no acto de contar e de representar.

Coisas sérias e muito verdadeiras

Crítica aos espectáculos de teatro Velocidade Máxima, de John Romão; Às vezes as luzes apagam-se, de Pedro Gil; e O que se leva desta vida, de Tiago Rodrigues e Gonçalo Waddington.