Autonomous behaviors for an unmanned mini-aerial vehicle

This thesis aims at addressing the development of autonomous behaviors, for search and exploration with a mini-UAV (Unmanned Aerial Vehicle), or also called MAV (Mini Aerial Vehicle) prototype, in order to gather information in rescue scenarios. The platform used in this work is a four rotor helicopter, known as quad-rotor from the German company Ascending Technologies GmbH, which is later assembled with a on-board processing unit (i.e. a tiny light weight computer) and a on-board sensor suite (i.e. 2D-LIDAR and Ultrasonic Sonar). This work can be divided into two phases. In the first phase an Indoor Position Tracking system was settled in order to obtain the Cartesian coordinates (i.e. X, Y, Z) and orientation (i.e.heading) which provides the relative position and orientation of the platform. The second phase was the design and implementation of medium/high level controllers on each command input in order to autonomously control the aircraft position, which is the first step towards an autonomous hovering flight, and any autonomous behavior (e.g. Landing, Object avoidance, Follow the wall). The main work is carried out in the Laboratory ”Intelligent Systems for Emergencies and Civil Defense”, in collaboration with ”Dipartimento di Informatica e Sistemistica” of Sapienza Univ. of Rome and ”Istituto Superiore Antincendi” of the Italian Firemen Department.

Competitive dynamics for behavior coordination in a joint transportation task

We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.

Multi-criteria optimization manipulator trajectory planning

In the last twenty years genetic algorithms (GAs) were applied in a plethora of fields such as: control, system identification, robotics, planning and scheduling, image processing, and pattern and speech recognition (Bäck et al., 1997). In robotics the problems of trajectory planning, collision avoidance and manipulator structure design considering a single criteria has been solved using several techniques (Alander, 2003). Most engineering applications require the optimization of several criteria simultaneously. Often the problems are complex, include discrete and continuous variables and there is no prior knowledge about the search space. These kind of problems are very more complex, since they consider multiple design criteria simultaneously within the optimization procedure. This is known as a multi-criteria (or multiobjective) optimization, that has been addressed successfully through GAs (Deb, 2001). The overall aim of multi-criteria evolutionary algorithms is to achieve a set of non-dominated optimal solutions known as Pareto front. At the end of the optimization procedure, instead of a single optimal (or near optimal) solution, the decision maker can select a solution from the Pareto front. Some of the key issues in multi-criteria GAs are: i) the number of objectives, ii) to obtain a Pareto front as wide as possible and iii) to achieve a Pareto front uniformly spread. Indeed, multi-objective techniques using GAs have been increasing in relevance as a research area. In 1989, Goldberg suggested the use of a GA to solve multi-objective problems and since then other researchers have been developing new methods, such as the multi-objective genetic algorithm (MOGA) (Fonseca & Fleming, 1995), the non-dominated sorted genetic algorithm (NSGA) (Deb, 2001), and the niched Pareto genetic algorithm (NPGA) (Horn et al., 1994), among several other variants (Coello, 1998). In this work the trajectory planning problem considers: i) robots with 2 and 3 degrees of freedom (dof ), ii) the inclusion of obstacles in the workspace and iii) up to five criteria that are used to qualify the evolving trajectory, namely the: joint traveling distance, joint velocity, end effector / Cartesian distance, end effector / Cartesian velocity and energy involved. These criteria are used to minimize the joint and end effector traveled distance, trajectory ripple and energy required by the manipulator to reach at destination point. Bearing this ideas in mind, the paper addresses the planning of robot trajectories, meaning the development of an algorithm to find a continuous motion that takes the manipulator from a given starting configuration up to a desired end position without colliding with any obstacle in the workspace. The chapter is organized as follows. Section 2 describes the trajectory planning and several approaches proposed in the literature. Section 3 formulates the problem, namely the representation adopted to solve the trajectory planning and the objectives considered in the optimization. Section 4 studies the algorithm convergence. Section 5 studies a 2R manipulator (i.e., a robot with two rotational joints/links) when the optimization trajectory considers two and five objectives. Sections 6 and 7 show the results for the 3R redundant manipulator with five goals and for other complementary experiments are described, respectively. Finally, section 8 draws the main conclusions.

Complex dynamics in the trajectory control of redundant manipulators

Redundant manipulators allow the trajectory optimization, the obstacle avoidance, and the resolution of singularities. For this type of manipulators, the kinematic control algorithms adopt generalized inverse matrices that may lead to unpredictable responses. Motivated by these problems this paper studies the complexity revealed by the trajectory planning scheme when controlling redundant manipulators. The results reveal fundamental properties of the chaotic phenomena and give a deeper insight towards the development of superior trajectory control algorithms.

Manipulator trajectory planning using a MOEA

Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, considering two and five objectives optimization. A subsequent analysis of the spread and solutions distribution along the converged non-dominated Pareto front is carried out, in terms of the achieved diversity.

The impact of national cultures on international marketing strategy and subsidiary performance of portuguese SME’s

The dynamic of the international business and its multidimensional nature requires the understanding of the complexities of different contexts dictated by cultural differences between countries. The purpose of this paper is to study, in depth howsmall and medium-sized companies develop their international marketing mix strategy in their overseas subsidiaries. We use the theoretical construct of Hofstede (1980, 1991) in the dimensions of Power Distance (PD), Uncertainty Avoidance (UA), Individualism (IND), Masculinity (MASC) and Long-Term Orientation (LTO) to assess the cross cultural differences between countries and the business practices to analyze the adaptation or standardization of the international marketing mix strategy of foreign Portuguese subsidiaries. Ourstudy uses an exploratoryand qualitative methodology. We conducted semi-structured interviews in order to achieve a good understanding ofinternational marketing mix strategy of four companies from different sectors. Our results show that the national cultural differences have great influence in the marketing strategy of the subsidiary. The business practices adjustments in the subsidiary company that proved to be necessary conditions for their performance are conducted by the products augmented offerings concerning the characteristics of the product, design and brand name in order to meet the requirements and specificities of the host country of the subsidiary.

O recurso a procedimentos de auditoria financeira no combate à fraude e evasão fiscais

Dissertação de Mestrado apresentada ao Instituto de Contabilidade e Administração do Porto para a obtenção do grau de Mestre em Auditoria, sob orientação de Mestre Adalmiro Álvaro Malheiro de Castro Andrade Pereira

Vision based context categorization for all-terrain robot

Dissertation presented at the Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa to obtain the Master degree in Electrical and Computer Engineering.

Bridging environmental conflicts with social metabolism : forestry expansion and socioeconomic change

Dissertação apresentada para obtenção do Grau de Doutor em Ciências do Ambiente, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Incapacidade auto-reportada e retorno à actividade profissional em utentes com dor crónica lombar

RESUMO: O absentismo à actividade profissional devido à condição de Dor Lombar apresenta-se como um problema de saúde pública com elevados custos económicos nas sociedades ocidentais. É estimado que cerca de 20% a 47% dos utentes com Dor Lombar não retornam à sua actividade profissional no período de 3 meses, sendo responsáveis por 75% a 90% de todos os custos e baixas médicas associadas à condição. Objectivo: O objectivo deste estudo foi analisar a capacidade de retorno à actividade profissional em utentes com Dor Crónica Lombar (DCL), que procuraram a Fisioterapia em situação de agudização dos seus sintomas, e averiguar a sua relação com os níveis de Incapacidade auto-reportados. Secundariamente pretendemos avaliar a influência das Crenças de medo-evitamento, nos níveis de Incapacidade auto-reportados. Metodologia: Foi efectuado um estudo correlacional prospectivo no qual se observou uma amostra de 56 utentes com DCL que tivessem apresentado novos episódios de agudização dos seus sintomas. Após 3 meses de follow-up (n=42) foi avaliado o “regresso ao trabalho em boas condições” e a sua relação com os níveis de Incapacidade iniciais, bem como o contributo das Crenças de medo-evitamento para essa Incapacidade funcional. Resultados: Foi verificada uma correlação negativa entre os níveis de Incapacidade funcional e o Sucesso no “regresso ao trabalho em boas condições” (ρ = -0.369; p =0.016), sendo que os scores mais elevados da Incapacidade correspondem à Falha nesse regresso. Verificámos também uma correlação positiva entre a existência das Crenças de medo-evitamento relativas ao Trabalho e a Incapacidade (r =0.511; p =0,001), apresentando estas Crenças um valor preditivo (β= 0.533; p =0.001) na Incapacidade auto-reportada. Conclusões: A capacidade de retorno à actividade profissional nos utentes com DCL, após um novo episódio de agudização dos seus sintomas, está relacionada com níveis de Incapacidade funcional. Os factores psicossociais, nomeadamente as Crenças de medo-evitamento relativas ao Trabalho apresentam um valor preditivo para essa Incapacidade auto-reportada.------------------------------ABSTRACT:Work-absenteeism due to the condition of Low Back Pain (LBP) presents itself as a public health problem with high economic costs in Western societies. It is estimated that 20% to 47% of patients with LBP not returned to their work-activity in period of 3 months, accounting for 75% to 90% of all medical costs and sickness compensation associated. Objective: The aim of the present study was to assess the ability to return to work on patients with chronic LBP, who searched for physical therapy in a situation of worsening of their symptoms, and examine their relationship with levels of self-reported disability. Secondly we intend to evaluate the influence of fear-avoidance beliefs to the levels of self-reported disability. Methods: We conducted a prospective cross-sectional study in which we observed 56 patients chronic LBP with new episodes of exacerbation of their symptoms. After a 3 months follow-up (n = 42) we evaluated the “return to work in good health” and its relationship with initial levels of disability and the contribution of fear-avoidance beliefs for that disability. Results: There was a negative correlation between levels of disability and “return to work in good health” success (ρ = -0.369, p = 0.016), with the highest scores correspond to the failure in the work-return. We also found a positive correlation between the existence of fear-avoidance beliefs for work and disability (r = 0.511; p = 0.001), with a predictive value of these fear-avoidance beliefs (β = 0.533; p = 0.001) in self-reported disability. Conclusions: The ability to return to work in chronic LBP patients, after a new episode of exacerbation of symptoms is related to the levels of functional disability. Psychosocial factors, including fear-avoidance beliefs for work showed a predictive value for the self-reported disability.

Dor crónica lombar : incapacidade auto-reportada em trabalhadores das IPSS de Arronches e sua relação com factores psicossociais e intensidade da dor

RESUMO: Vários estudos realizados sugerem que os factores psicossociais (nível de satisfação laboral; nível educacional; a catastrofização da dor e crenças de medoevitamento)têm um importante papel como factores associados ao desenvolvimento de cronicidade da DL (Krismer & van Tulder, 2007; Kwon et al., 2006; Leclerc et al., 2009; Pincus, Santos, Breen, Burton e Underwood., 2008.) Objectivo: Analisar a associação entre as variáveis catastrofização da dor, crenças de medo-evitamento da dor e intensidade da dor com a incapacidade funcional auto-reportada, numa amostra de indivíduos com DCL. Metodologia: A população alvo foi constituída por 160 funcionários da Santa Casa da Misericórdia e Centro de Bem Estar Social de Arronches. Integraram a amostra 133 funcionários que se disponibilizaram a responder aos diferentes instrumentos de avaliação utilizados (“Roland–Morris Disability Questionnaire”(RMQ); “ Questionário de Caracterização e Levantamento de Factores de Risco e Impacto associado à DCL”; “Pain Catastrophing Scale” (PCS) e o “Fear- Avoidance Beliefs Questionnaire” (FABQ). A recolha de dados realizou-se entre Agosto e Novembro de 2010. Resultados: Neste estudo, verificou-se que 39,1 % dos indivíduos referiam DCL não específica. Relativamente à incapacidade funcional autoreportada, obteve-se um score médio 5,87 no RMQ. Obteve-se um valor de rs=0,425,p<0,01, para a associação entre a catastrofização da dor e incapacidade. Relativamente à associação entre crenças de medo-evitamento, sub-escala actividade física e incapacidade, foi obtido o valor de rs= 0,074 e para a associação entre as crenças de medo-evitamento, sub-escala trabalho e incapacidade, verificou-se rs=0,422, p<0,01. No que respeita à associação entre percepção da intensidade dor actual e a incapacidade, obteve-se um valor rs= 0,177 e a associação entre a dor percepcionada em 2009 e incapacidade, aferiu um resultado de rs=0,291, p<0,05. Conclusão: Concluímos que existe uma associação moderada entre catastrofização da dor e a incapacidade funcional auto-reportada, e também entre crenças de medo-evitamento relativamente ao trabalho e a incapacidade funcional auto-reportada. Relativamente à associação entre a dor percepcionada em 2009 e a incapacidade funcional auto-reportada a associação é baixa. Não sendo encontrada associação entre crenças de medo-evitamento relativamente à actividade física e a incapacidade funcional auto-reportada, nem para a associação entre percepção da intensidade da dor actual e a incapacidade. Esta pesquisa contribuiu assim, para dar a conhecer factores relevantes avaliar em indivíduos com DCL, podendo a sua modificação contribuir para a prevenir maiores níveis de incapacidade funcional ou melhorar a efectividade do tratamento utilizado. --------------------ABSTRACT: Several studies suggest that psychosocial factors (level of job satisfaction, education level, and the pain catastrophizing and fear-avoidance beliefs) have an important role as factors associated with development of chronicity LBP (Krisma & van Tulder, 2007 ; Kwon et al., 2006, Leclerc et al. 2009; Pincus, Santos, Breen, Burton and Underwood., 2008.) Objective: To assess the association between the variables of pain catastrophizing, fear-avoidance beliefs, pain, intensity pain and self-reported functional disability in a sample of people with chronic LBP. Methodology: The study consisted of 160 employees of the Santa Casa da Misericórdia and Centro de Bem Estar Social of Arronches. Integrated sample of 133 employees who agreed to respond to different assessment tools used (Roland-Morris Disability Questionnaire (RMQ), "Questionnaire Survey of Characterization and Risk Factors and Impact associated with the DCL," "Pain Catastrophing Scale(PCS) and "Fear-Avoidance Beliefs Questionnaire (FABQ). Data collection took place between August and November 2010. Results: In this study, it was found that 39.1% of subjects reported no specific chronic LBP. For the self-reported functional disability, we obtained a medium score of 5.87 on the RMQ. We obtained a value of rs = 0.425, p <0.01, for the association between catastrophizing in pain and disability. Regarding the association between fear-avoidance beliefs, sub-scale physical activity and disability, was obtained a value of rs = 0.074 and for the association between fear-avoidance beliefs, sub-scale work and disability, there was rs = 0.422, p <0.01. Regarding the association between perceived pain intensity and pain disability present we obtained a value rs = 0.177 association between pain and perceived disability in 2009 and measured an outcome of rs = 0.291, p <0.05.Conclusion: That there is a moderate association between catastrophizing and pain self-reported functional disability, and also between fear-avoidance beliefs in relation to employment and self-reported functional disability. Regarding the association between pain and perceived disability in 2009 self-reported the association is low. Not being an association between earavoidance beliefs for physical activity and self-reported functional disability, or for the association between perception of current pain intensity and disability. This research contributed so, to disclose relevant factors evaluate in individuals with chronic LBP, its modification may help to prevent higher levels of functional disability or improve the effectiveness of treatment used.

Dor crónica lombar : incapacidada auto-reportada em trabalhadores de saúde e sua relação com variáveis psicossociais e intensidade da dor

RESUMO: A dor crónica lombar, é uma condição de saúde cuja prevalência tem aumentado nas últimas décadas. É uma condição que pode ser bastante incapacitante para o indivíduo e por consequência, ter importante impacto social e económico na sociedade. É um fenómeno complexo, multifactorial e pouco estudado na população portuguesa. Objectivo: Estudar a associação entre a catastrofização da dor, crenças de medo evitamento da dor, intensidade da dor e a incapacidade funcional auto reportada em indivíduos com dor crónica lombar. Metodologia: Estudo observacional analítico de corte transversal, com uma amostra de 38 indivíduos com dor crónica lombar, seleccionados a partir de uma população de 186 trabalhadores de uma unidade local de saúde. A recolha de dados foi realizada através de 4 instrumentos de avaliação: Questionário de caracterização e levantamento de factores de risco e impacto associados à dor crónica lombar; Questionário de incapacidade de Roland e Morris; Escala de catastrofização da dor; e Questionário de crenças de medo evitamento da dor. A análise dos dados foi feita através de estatística descritiva pela distribuição de frequências e medidas de tendência central para análise da prevalência e caracterização da amostra e por estatística inferencial para estudar as relações entre variáveis através do teste de correlação não paramétrico de Spearman. Resultados: A variável catastrofização da dor obteve um valor de correlação com a incapacidade auto-reportada de rs=0,473, para p<0,01; a variável crença de medo evitamento da dor relacionada com o trabalho obteve um valor de correlação com a incapacidade auto-reportada de rs=0,462 para p<0,01, a percepção da intensidade actual de dor e a intensidade percepcionada no ano anterior, obtiveram valores de correlação com a incapacidade auto-reportada de rs=0,327 e rs= 0,359 respectivamente para valor de p<0,05. Conclusão: As variáveis psicossociais catastrofização da dor e crença de medo evitamento da dor relacionada com o trabalho, influenciam de forma moderada a incapacidade em indivíduos com dor crónica lombar. A associação entre a intensidade da dor e a incapacidade parece ter um papel menos importante demonstrando associações baixas.--------------------------ABSTRACT: Chronic low back pain is a health condition whose prevalence has increased in recent decades. It is a condition that can be quite disabling for the individual and therefore have important social and economic impact on society. It is a complex phenomenon, multifactorial and poorly studied in the Portuguese population. Objective: To study the association between pain catastrophizing, fear avoidance beliefs, pain, pain intensity and self-reported functional disability in individuals with chronic low back pain. Methods: Observational analytical cross sectional study of a sample of 38 individuals with chronic low back pain, selected from a population of 186 workers at a local health unit. Data collection was performed through four assessment instruments: questionnaire characterization, evaluation of risk factors and impact associated to chronic low back pain, questionnaire Roland and Morris disability, pain catastrophizing scale and fear avoidance beliefs questionnaire. Data analysis was performed using descriptive statistics for the distribution of frequencies and measures of central tendency to analyze the prevalence and characteristics of the sample and inferential statistics to study the relationships between variables by testing for Spearman nonparametric correlation. Results: The pain catastrophizing variable had a correlation value rs= 0,473, p<0,01 with the self-reported disability, the variable of fear avoidance belief of pain related to the work achived a correlation value with the self-reported disability, rs = 0.462 p <0.01, current pain intensity and in the previous year obtained values of correlation with self-reported disability rs = 0.327 and rs = 0.359 respectively for values of p <0.05 .Conclusion: The psychosocial variables of pain catastrophizing and fear avoidance belief of pain related to the work had a moderate association with disability in individuals with chronic low back pain. The association between pain intensity and disability seems to have a less important role demonstrating low associations.

Educação e exercício em utentes com dor crónica lombar : efeitos de um Programa ao nível da incapacidade funcional, intensidade da dor e crenças de medo-evitamento do movimento

RESUMO:Este trabalho de investigação englobou a realização de um estudo quasi expçerimental, de carácter exploratório, com dois objectivos distintos. O primeiro objectivo consistiu em estudar os efeitos de um programa baseado na educação e exercício ao nível da capacidade funcional, intensidade da dor e crenças de medo/ evitamento do movimento relacionadas com a actividade física e o trabalho em utentes com DCL.--------------------------ABSTRACT:The aims of this study were twofold. The first aim was to analyse the effect of a Programme based on Education and Exercise in Pain Intensity, Disability and Movement Fear-Avoidance Beliefs in Portuguese Chrnic Back Low Pain (CLBP) patients.

Cultural adaptation of websites: a comparative study of portuguese and dutch corporate websites

Master Thesis Presented at Instituto de Contabilidade e Administração do Porto for obtaining the Master’s degree in Digital Marketing under the supervision of Professor José de Freitas Santos

Cold Urticaria and Infectious Mononucleosis in Children

Physical urticaria includes a heterogeneous group of disorders characterized by the development of urticarial lesions and/or angioedema after exposure to certain physical stimuli. The authors present the case of a child with severe acquired cold urticaria secondary to infectious mononucleosis. Avoidance of exposure to cold was recommended; prophylactic treatment with ketotifen and cetirizine was begun and a self-administered epinephrine kit was prescribed. The results of ice cube test and symptoms significantly improved. Physical urticaria, which involves complex pathogenesis, clinical course and therapy, may be potentially life threatening. Evaluation and diagnosis are especially important in children. To our knowledge this is the first description of persistent severe cold-induced urticaria associated with infectious mononucleosis in a child.