Cascade Control of a Hexapod Robot

6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 September

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

Ball Sensing in a Leg Like Robotic Kicker

The trend to have more cooperative play and the increase of game dynamics in Robocup MSL League motivates the improvement of skills for ball passing and reception. Currently the majority of the MSL teams uses ball handling devices with rollers to have more precise kicks but limiting the capability to kick a moving ball without stopping it and grabbing it. This paper addresses the problem to receive and kick a fast moving ball without having to grab it with a roller based ball handling device. Here, the main difficulty is the high latency and low rate of the measurements of the ball sensing systems, based in vision or laser scanner sensors.Our robots use a geared leg coupled to a motor that acts simultaneously as the kicking device and low level ball sensor. This paper proposes a new method to improve the capability for ball sensing in the kicker, by combining high rate measurements from the torque and energy in the motor and angular position of the kicker leg. The developed method endows the kicker device with an effective ball detection ability, validated in several game situations like in an interception to a fast pass or when chasing the ball where the relative speed from robot to ball is low. This can be used to optimize the kick instant or by the embedded kicker control system to absorb the ball energy.

Multi-robot cooperative stereo for outdoor scenarios

13th International Conference on Autonomous Robot Systems (Robotica), 2013

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Simulation Environment for Multi-Robot Cooperative 3D Target Perception

4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014

Uncertainty based Multi-Robot Cooperative Triangulation

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.

Contributos de um jogo tipo peddy paper na motivação de alunos para aprendizagens do tema sol-terra-vida

Este estudo tem como objetivo principal conhecer, analisar e refletir sobre as conceções e as práticas de sala de aula, relativamente à importância dos jogos como ferramenta motivadora para a aprendizagem de novos conteúdos. Numa primeira parte deste documento, é feita uma abordagem teórica sobre as questões que levaram à realização deste projeto. Numa segunda parte apresenta-se o estudo empírico que inclui a recolha do testemunho de alunos que realizaram as atividades propostas, bem como as suas expetativas acerca do uso do jogo na sala de aula. Foi utilizado o processo metodológico de investigação – ação. A recolha de dados baseouse em: observação direta, narrativa descritiva de toda a aula baseada nas Narrações Multimodais; questionário de resposta aberta e registos fotográficos, sobre os quais faremos uma análise qualitativa. Nas partes seguintes deste documento apresenta-se a análise de dades, que foi de natureza qualitativa, as conclusões e as limitações.

Evaluation of three different DNA extraction methods from blood samples collected in dried filter paper in Plasmodium subpatent infections from the Amazon region in Brazil

Asymptomatic Plasmodium infection is a new challenge for public health in the American region. The polymerase chain reaction (PCR) is the best method for diagnosing subpatent parasitemias. In endemic areas, blood collection is hampered by geographical distances and deficient transport and storage conditions of the samples. Because DNA extraction from blood collected on filter paper is an efficient method for molecular studies in high parasitemic individuals, we investigated whether the technique could be an alternative for Plasmodium diagnosis among asymptomatic and pauciparasitemic subjects. In this report we compared three different methods (Chelex®-saponin, methanol and TRIS-EDTA) of DNA extraction from blood collected on filter paper from asymptomatic Plasmodium-infected individuals. Polymerase chain reaction assays for detection of Plasmodium species showed the best results when the Chelex®-saponin method was used. Even though the sensitivity of detection was approximately 66% and 31% for P. falciparum and P. vivax, respectively, this method did not show the effectiveness in DNA extraction required for molecular diagnosis of Plasmodium. The development of better methods for extracting DNA from blood collected on filter paper is important for the diagnosis of subpatent malarial infections in remote areas and would contribute to establishing the epidemiology of this form of infection.

Position Statement on Bioresorbable Vascular Scaffolds in Portugal

BACKGROUND: Bioresorbable vascular scaffolds (BVS) were recently approved for percutaneous coronary intervention in Europe. The aim of this position statement is to review the information and studies on available BVS, to stimulate discussion on their use and to propose guidelines for this treatment option in Portugal. METHODS AND RESULTS: A working group was set up to reach a consensus based on current evidence, discussion of clinical case models and individual experience. The evidence suggests that currently available BVS can produce physiological and clinical improvements in selected patients. There are encouraging data on their durability and long-term safety. Initial indications were grouped into three categories: (a) consensual and appropriate - young patients, diabetic patients, left anterior descending artery, long lesions, diffuse disease, and hybrid strategy; (b) less consensual but possible - small collateral branches, stabilized acute coronary syndromes; and (c) inappropriate - left main disease, tortuosity, severe calcification. CONCLUSION: BVS are a viable treatment option based on the encouraging evidence of their applicability and physiological and clinical results. They should be used in appropriate indications and will require technical adaptations. Outcome monitoring and evaluation is essential to avoid inappropriate use. It is recommended that medical societies produce clinical guidelines based on high-quality registries as soon as possible.

Renova black toilet paper: The creation of a glocal market space

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

Portucel: Pulp and Paper: Equity Investment Report

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

Satisfação profissional dos dietistas nos hospitais do Serviço Nacional de Saúde : um primeiro estudo empírico

RESUMO - A satisfação no trabalho é entendida como um conjunto de sentimentos ou respostas afetivas relacionados com aspetos particulares do trabalho. Os autores não são unânimes na sua definição concetual. Neste estudo pretende-se compreender a satisfação profissional dos dietistas a exercer nos hospitais públicos em Portugal continental. A satisfação profissional foi avaliada através de um questionário (adaptado de Graça,1999) dividido em três partes. Foi aplicada uma escala de intervalos, na Discrepância entre as Expetativas (E) e Resultados (R), constituída por 8 dimensões e 44 itens. Mediu-se igualmente a importância motivacional que os dietistas atribuíram a cada uma das 8 dimensões, e foi feita a sua caraterização sociodemográfica da população estudada. De uma população inicial constituída por 42 elementos, contactada por email para responder ao questionário “on line”, tivemos 34 respondentes. Quatro respostas, por incompletas, não foram consideradas no tratamento. No final, temos uma amostra de conveniência constituída por 30 dietistas, todos eles a trabalhar atualmente em hospitais do SNS. A taxa de resposta válida é, pois, de 71,4%. Trata-se de um estudo descritivo, observacional e tipo transversal. A análise de dados baseou-se na estatística descritiva e analítica. O score médio global (2,59), indicador da discrepância E-R, permite classificar a amostra como estando “bastante satisfeita” em relação ao seu trabalho e à sua profissão. Em relação à ordenação das dimensões segundo a importância motivacional, a Realização pessoal e profissional & desempenho organizacional (1º) (2,57), é aquela que os inquiridos consideraram a mais importante, seguida da Relação profissional/utente (2º) (3,78) e finalmente a Autonomia & poder (3º) (3,96). Os melhores scores médios de cada dimensão são a Relação profissional/utente (1º) (1,36), seguida do Status e prestigio (2º) (1,51) e por último as Relações de trabalho e suporte social (3º) (2,39). Em conclusão, em relação à ordenação das dimensões segundo a importância motivacional, a Realização pessoal e profissional e desempenho organizacional foi considerada pelos dietistas a mais importante e a dimensão menos importante foi a do Status e prestígio. A Relação profissional/utente foi a dimensão com melhor score médio, ou seja, é a dimensão onde os dietistas se encontram mais satisfeitos, e a remuneração foi a dimensão onde a população se encontra menos satisfeita. A satisfação profissional dos dietistas que trabalham em hospitais públicos pode contribuir para melhorar a prestação de cuidados de saúde à população. Recomendamos por isso, mais investigação que aborde aquela temática, tornando mais visível a importância do dietista no contexto da saúde em Portugal.

Adjusting to external imbalances within the EMU, the case of Portugal

From 1995 to 2010 Portugal has accumulated a negative international asset position of 110 percent of GDP. In a developed and aging economy the number is astonishing and any argument to consider it sustainable must rely on extremely favorable forecasts on growth. Portuguese policy options are reduced in number: no autonomous monetary policy, no currency to devaluate, and limited discretion in changing fiscal deficits and government debt. To start the necessary deleveraging a remaining possible policy is a budget-neutral change of the tax structure that increases private saving and net exports. An increase in the VAT and a decrease in the employer’s social security contribution tax can achieve the desired outcome in the short run if they are complemented with wage moderation. To obtain a substantial improvement in competitiveness and a large decrease in consumption, the changes in the tax rates have to be large. While a precise quantitative assessment is difficult, the initial increase in the effective VAT rate needed to allow the social security tax to decrease by 16 percentage points (pp) is approximately 10 pp. Such a large increase in the effective VAT rate could be obtained by raising most of the reduced VAT rates to the new general VAT rate of 23 percent. The empirical analysis shows that over time the suggested tax swap could generate surpluses and improve the trade balance. A temporary version of the suggested tax-swap has the attractiveness to achieve a sharper increase in the private saving rate maintaining the short run gains in competitiveness. Finally, the temporary version of the fiscal devaluation could be the basis for an automatic stabilizer to external imbalances within a monetary union.Portugal has been running large current account deficits every year since 1995. These deficits have accumulated to an astonishing 110 percent of GDP negative external asset position. The sustainability of such a large external position is questionable and must rely on fantastic productivity growth expectations. The recent global financial crisis appears to have anticipated the international investors reality check on those future expectations with the result of a large increase in the cost of external financing. Today the rebalancing of the current account through an increase in national savings and an improvement in competitiveness must be at the top of the Portuguese authorities “to do” list as the cost of a pull out from international investors is of the order of 10% of GDP. The external rebalancing is difficult as the degrees of freedom of the Portuguese authorities are limited in number: they have no autonomous monetary policy, no currency to devaluate, and little discretion in fiscal policy as deficit limits and debt targets are set by the Stability Growth Pact and the postcrisis consensus on medium-term fiscal consolidation. One possibility that remains is to change the fiscal policy mix for a given budget deficit. The purpose of this paper is to explore the effects of a “fiscal devaluation”1 obtained through a tax swap between employers’ social security contributions and taxes on consumption2. The paper begins by illustrating Portugal’s current account evolution during the euro period. The second section section lays out a model to offer a qualitative assessment of the dynamic outcomes of the the tax swap. I show that the suggested tax swap can in theory achieve the desired outcomes in terms of competitiveness and consumption if complemented with moderation (stickiness) in wages. I also study the effects of a temporary version of the tax swap and show that it achieves a sharper improvement in the current account that accelerate the rebalancing. The third section moves to the empirical analysis and estimates the likely effects of the tax swap for the Portuguese economy. The fourth section concludes.