Nonlinear optimization for human-like synchronous movements of a dual arm-hand robotic system

In previous work we have presented a model capable of generating human-like movements for a dual arm-hand robot involved in human-robot cooperative tasks. However, the focus was on the generation of reach-to-grasp and reach-to-regrasp bimanual movements and no synchrony in timing was taken into account. In this paper we extend the previous model in order to accomplish bimanual manipulation tasks by synchronously moving both arms and hands of an anthropomorphic robotic system. Specifically, the new extended model has been designed for two different tasks with different degrees of difficulty. Numerical results were obtained by the implementation of the IPOPT solver embedded in our MATLAB simulator.

A new competitive implementation of the electromagnetism-like algorithm for global optimization

The Electromagnetism-like (EM) algorithm is a population- based stochastic global optimization algorithm that uses an attraction- repulsion mechanism to move sample points towards the optimal. In this paper, an implementation of the EM algorithm in the Matlab en- vironment as a useful function for practitioners and for those who want to experiment a new global optimization solver is proposed. A set of benchmark problems are solved in order to evaluate the performance of the implemented method when compared with other stochastic methods available in the Matlab environment. The results con rm that our imple- mentation is a competitive alternative both in term of numerical results and performance. Finally, a case study based on a parameter estimation problem of a biology system shows that the EM implementation could be applied with promising results in the control optimization area.

Relatório sobre “Surgical cases packages”

Problema apresentado pelo Hospital de Braga no 109th European Study Group with Industry 10 a 15 de maio de 2015. Departamento de Produção e Sistemas Escola de Engenharia da Universidade do Minho Guimarães Portugal 24 de julho de 2015

The role of automatic shape and position recognitionin streamlining manufacturing

The main features of most components consist of simple basic functional geometries: planes, cylinders, spheres and cones. Shape and position recognition of these geometries is essential for dimensional characterization of components, and represent an important contribution in the life cycle of the product, concerning in particular the manufacturing and inspection processes of the final product. This work aims to establish an algorithm to automatically recognize such geometries, without operator intervention. Using differential geometry large volumes of data can be treated and the basic functional geometries to be dealt recognized. The original data can be obtained by rapid acquisition methods, such as 3D survey or photography, and then converted into Cartesian coordinates. The satisfaction of intrinsic decision conditions allows different geometries to be fast identified, without operator intervention. Since inspection is generally a time consuming task, this method reduces operator intervention in the process. The algorithm was first tested using geometric data generated in MATLAB and then through a set of data points acquired by measuring with a coordinate measuring machine and a 3D scan on real physical surfaces. Comparison time spent in measuring is presented to show the advantage of the method. The results validated the suitability and potential of the algorithm hereby proposed

Evaluating balance, stability and gait symmetry of stroke patients using kinematic and dynamic gait lab data

Dissertação de mestrado integrado em Engenharia Biomédica

Desenvolvimento de um sistema para análise de equilíbrio baseado em sensores inerciais

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e de Computadores

Development of a thermoelectric generator for the exhaust of a vehicle

Dissertação de mestrado integrado em Engenharia Mecânica

Dynamic modelling and analysis of hydraulic forces in radial blood pumps

Dissertação de mestrado integrado em Biomedical Engineering Biomaterials, Biomechanics and Rehabilitation

An integrated model for simulation of construction phasing of arch concrete dams

Dissertação de mestrado integrado em Civil Engineering

A novel hanging spherical drop system for the generation of cellular spheroids and high throughput combinatorial drug screening

We propose a novel hanging spherical drop system for anchoring arrays of droplets of cell suspension based on the use of biomimetic superhydrophobic flat substrates, with controlled positional adhesion and minimum contact with a solid substrate. By facing down the platform, it was possible to generate independent spheroid bodies in a high throughput manner, in order to mimic in vivo tumour models on the lab-on-chip scale. To validate this system for drug screening purposes, the toxicity of the anti-cancer drug doxorubicin in cell spheroids was tested and compared to cells in 2D culture. The advantages presented by this platform, such as feasibility of the system and the ability to control the size uniformity of the spheroid, emphasize its potential to be used as a new low cost toolbox for high-throughput drug screening and in cell or tissue engineering.

Programa com abordagem probabilística do sistema de avaliação de qualidade de taludes Slope Quality Index (SQI)

Dissertação de mestrado integrado em Engenharia Civil

O estudo da aplicação de acabamentos funcionais de barreira UV em fibras previamente ativadas por plasma

Tese de Doutoramento Engenharia Têxtil

Intelligente Regelung von nichtlinearen elektromechanischen Systemen

Magdeburg, Univ., Fak. für Elektrotechnik und Informationstechnik, Diss., 2011

Double-Exponential Model of a Photovoltaic Cell with Temperature Dependence

The purpose of the research is the creation of mathematical models in MATLAB based on the double exponential model of the photovoltaic cell. The developed model allows for different physical and environmental parameters. An equivalent circuit of the model includes a photocurrent source, two diodes, and a series and parallel resistance. The paper presents the simulation results for each parameter. The simulation data are displayed graphically and numerical results are saved in a file.

Entwicklung eines Quellcodes zur semiautomatisierten Auswertung von Magnetresonanz-Datensätzen

Im Rahmen eines Projektes im Fraunhofer IZI wurden Hirninfarkte künstlich im Gehirn von Versuchsmäusen ausgelöst und diese mittels Magnetresonanztomographie gemessen und visualisiert. Dabei entstanden DICOM-Dateien, die mit Bildverarbeitungssoftware Fiji, ImageJ und 3D Slicer bearbeitet wurden. Mit Matlab sollen nun Programme geschrieben werden, die die Bearbeitungsschritte automatisieren und vereinfachen. In der Arbeit werden verschiedene Segmentierungsformen und Filter vorgestellt. In die Quellcodes wurden Schwellenwertverfahren und Verfahren der Aktiven Konturen implementiert. Ziel ist es, den Bildanteil des Infarkts zu separieren (segmentieren), diesen danach zu binarisieren um danach die Pixelanzahl ermitteln zu können. Aus der Anzahl der Pixel kann dann das Volumen des Schlaganfalles berechnet werden.