Hybrid adaptive control of a dragonfly model

Dragonflies show unique and superior flight performances than most of 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, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive (HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive (DA) method in terms of faster and improved tracking and parameter convergence.

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.

Application of fractional algorithms in the control of a robotic bird

In this paper, it is studied the dynamics of the robotic bird in terms of time response and robustness. It is analyzed the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird should allow testing strategies and different algorithms of control such as integer and fractional controllers.

Particle swarm design of digital circuits

Swarm Intelligence (SI) is the property of a system whereby the collective behaviors of (unsophisticated) agents interacting locally with their environment cause coherent functional global patterns to emerge. Particle swarm optimization (PSO) is a form of SI, and a population-based search algorithm that is initialized with a population of random solutions, called particles. These particles are flying through hyperspace and have two essential reasoning capabilities: their memory of their own best position and knowledge of the swarm's best position. In a PSO scheme each particle flies through the search space with a velocity that is adjusted dynamically according with its historical behavior. Therefore, the particles have a tendency to fly towards the best search area along the search process. This work proposes a PSO based algorithm for logic circuit synthesis. The results show the statistical characteristics of this algorithm with respect to number of generations required to achieve the solutions. It is also presented a comparison with other two Evolutionary Algorithms, namely Genetic and Memetic Algorithms.

Lisboa, cidade cenográfica: memorando do projecto

Lisboa, cidade cenográfica é uma instalação que resulta dum processo de sucessivos registos de momentos, experiências e vivências da cidade de Lisboa, com diferentes narrativas. Através do método de assemblage de elementos retirados à rua e reconstruindo composições de blocos volumétricas que incluem desde imagens gráficas, à presença de fontes de luz e de som, e texturas várias, produzi uma instalação destinada a ser ocupada, como se do próprio processo de deambulação por uma cidade se tratasse – neste caso Lisboa. A instalação final, – Lisboa, cidade cenográfica -, constitui em si uma maqueta, como ponto de partida para um outro processo, quase interminável, que conduzisse a uma outra instalação que nos engolisse e se apoderasse da nossa presença. Manipulando diferentes escalas, composições e morfologias de espaço obter-se-ia uma instalação quase infindável, como a própria cidade. A actual instalação é como a síntese dum Fóssil Urbano. Na observação e captação de imagens da cidade houve a preocupação de efectuar a diferentes horas do dia. Os sons utilizados na instalação, foram gravados nas ruas de Lisboa e incluem desde sinos de igreja, ao chilrear de pássaros, aos aviões que sobrevoam, ao trânsito e respectivas buzinas e sirenes de ambulâncias, entre outros. No âmbito do desenvolvimento do projecto e desta Memória Descritiva, tive a preocupação de pedir a algumas pessoas – Cartas de Lisboa -, testemunhando o modo como habitam ou habitaram a cidade. Nos headphones presentes na instalação, ouve-se o poema Lisbon Revisited (1923), de Álvaro de Campos, completando assim o som ambiente de Lisboa, cidade cenográfica. Aquele poema só audível daquele modo, acaba por se sobrepor assim, dum modo subtil, aos outros sons ambiente (exteriores aos headphones).

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 it is studied the dynamics of a dragonfly-inspired robot. 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 movement, 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.

Projeto, Desenvolvimento e implementação de um Robô Voador de Inspiração Biológica

Este trabalho consiste no projeto, desenvolvimento e implementação de uma máquina voadora de inspiração biológica. Para a sua construção, é elaborado um estudo do voo nos seres biológicos de forma a obter alguma informação para o seu dimensionamento e é elaborada uma análise de projetos que utilizem as mesmas características de voo. Com os dados recolhidos neste estudo, é elaborado o projeto da máquina. Numa última fase, com recurso a materiais leves, é implementada uma máquina capaz de exercer as forças envolvidas no voo, força de propulsão e força de sustentação, e são elaborados estudos a fim de perceber quais os pontos fortes e os pontos fracos da mesma.

A Aquisição da Estrutura Passiva em Português Europeu

Tese apresentada para cumprimento dos requisitos necessários à obtenção do grau de Doutor em Linguística

Assessment of Notch1 ligands production - key protein targets in breast cancer

Cell-to-cell communication is required for many biological processes in development and adult life. One of the most common systems utilized by a wide range of eukaryotes is the Notch signalling pathway. Four Notch receptors and five ligands have been identified in mammals that interact via their extracellular domains leading to transcription activation. Studies have shown that the Notch ligands expression is undetectable in normal breast tissues, but moderate to high expression has been detected in breast cancer. Thus, any of the Notch1 ligands can be studied as possible therapeutic targets for breast cancer. To study Notch pathway proteins there is the need to obtain stable protein solutions. E. coli is the host of excellence for recombinant proteins for the ease of use, fast growth and high cell densities. However, the expression of mammalian proteins in such systems may overwhelm the bacterial cellular machinery, which does not possess the ability for post-translational modifications, or dedicated compartments for protein synthesis. Mammalian cells are therefore preferred, despite their technical and financial increased demands. We aim to determine the best expression and purification conditions for the different ligand protein constructs, to develop specific function-blocking antibodies using the Phage Display technology. Moreover, we propose to crystallize the Notch1 ligands alone and in complex with the phage display selected antibodies, unveiling molecular details. hJag2DE3 and hDll1DE6 proteins were purified from refolded inclusion bodies or mammalian cell culture supernatants, respectively, and purity was confirmed by SDS-PAGE (>95%). Protein produced in mammalian cells showed to be more stable, apparently with the physiological disulfide pattern, contrary to what was observed in the refolded protein. Several nano-scale crystallization experiments were set up in 96-well plates, but no positive result was obtained. We will continue to pursue for the best expression for the Notch ligand constructs in both expression systems.

Can body traits, other than wings, reflect the flight ability of Triatominae bugs?

Abstract: INTRODUCTION : Insects of the subfamily Triatominae are vectors of Trypanosoma cruzi , the Chagas disease parasite, and their flying behavior has epidemiological importance. The flying capacity is strikingly different across and within Triatominae species, as well as between sexes or individuals. Many Triatoma infestans individuals have wings but no flying muscles. In other Triatominae species, no clear relationships were found between wing length and flying behavior. If wing presence or size is not reflective of the flying behavior, which other parts of the body could be considered as reliable markers of this important function? METHODS : The genus Mepraia has exceptional characteristics with invariably wingless females and wingless or winged males. We calculated the porous surface exposed to odorant molecules to estimate the olfactory capacity of Mepraia spinolai . The head shape and thorax size were estimated using the geometric morphometric approach and traditional morphometric techniques, respectively. RESULTS : Alary polymorphism in M. spinolai was significantly associated with consistent modification of the thorax size, head shape, and notable change in the estimated olfactory capacity. The macropterous individuals had a larger olfactory surface and thorax size and significantly different head shape compared to those of the micropterous individuals. CONCLUSIONS: We concluded that these structural changes could be associated with the flying potential of Triatominae. Thus, morphological attributes not found on wings could help determine the likely flying potential of the bugs.

Desenvolvimento piloto de novas tipologias de fibras sintéticas

O presente trabalho, desenvolvido nas instalações da FISIPE, teve como objectivo a caracterização de fibra oxidada (FOX),actualmente em desenvolvimento, com vista ao controlo de processo e de qualidade, e centrou-se em quatro parâmetros: i. Densidade; ii. Índice de Aromaticidade; iii. Índice de Oxigénio Limitante; iv. Grupos funcionais. No estudo da densidade realizou-se: a. Consolidação do método actualmente usado na empresa, observando-se uma redução da incerteza para metade (±0,005 gcm-3). b. Análise de diferentes amostras de FOX que apresentaram valores entre 1,348-1,387 gcm-3, que atendendo à incerteza do método, se encontram dentro dos valores de referência (1,35-1,39 gcm-3). c. Previsão de densidades ao longo da etapa de estabilização oxidativa. Confirmou-se ser apenas possível pela expressão apresentada numa das fontes consultada. Para o Índice de Aromaticidade (AI) efectuou-se: a. Estudo de quatro métodos de integração de curvas de DSC para determinação do calor de combustão que permite determinar o AI. Verificou-se que o mais indicado seria o uso da temperatura de on-set como limite inferior à linha de base de integração. b. Análise de diferentes amostras de FOX, observando-se valores de AI entre os 66% e 81%. Na determinação do Índice de Oxigénio Limitante, parâmetro exclusivo de qualidade, analisaram-se amostras de cabo pela adaptação da norma ASTM D 2863-06a. Obtiveram-se valores acima dos 40%O2 para a fibra oxidada. Para a verificação dos grupos funcionais realizou-se: a. Análise de FTIR, confirmando-se o desaparecimento de grupos nitrilo em função do tempo de oxidação, e a formação de bandas conjugadas e sobrepostas, indicando a presença de estruturas ciclizadas e aromatizadas. b. Proposta de um mecanismo reaccional para a reacção de oxidação de uma determinada fibra precursora. Com o intuito de minimizar o tempo de caracterização das FOX, procurou-se ainda encontrar uma correlação entre a densidade e o Índice de Aromaticidade, tanto ao longo da etapa de oxidação, como da fibra oxidada final. Conclui-se que não é possível estabelecer uma relação matemática para as amostras analisadas.

Habitat preferences, diet, feeding strategy and social organization of the black spider monkey [Ateles paniscus paniscus Linnaeus 1758] in Surinam

A Socioecological Field Study.This monograph reports on a 26 month socioecological study of black spider monkeys (Ateles paniscus paniscus)in the Raleigh-vallen — Voltzberg Nature Reserve, Surinam. It recognizes the fundamental importance of food to the behavior and the regulation of population density fox this primate. It clarifies the complex temporal and spatial effects of tropical rain forest food sources on the behavior of a group of spider monkeys, concentrating on food category, food plant identity and phenology, and quantity, density and dispersion of the most important food sources. In addition, the present study describes habitat choice, optimal feeding strategy and sexual behavior of the spider monkey, and discusses implications of diet for social behavior. This study is also fundamental to conservation. Specialized in eating mature fruits, the spider monkey is a very important dispersal agent for many trees and lianes, particularly canopy species. However, the spider monkey is probably the most vulnerable monkey species in Surinam and it is disappearing rapidly throughout the remainder of its range. Unfortunately, it is large and noisy and can be easily tracked and hunted. It is largely restricted to undisturbed high forest, and consequently habitat destruction has more effect on it than on most other species. Together with its slow reproductive rate (a female gives birth only once every four or five years), this means that the species is poorly adapted to recover from exploitation. In order to implement proper measures for conservation, data on forest type preferences, diet and social behavior of the species, or on closely related species, in undisturbed areas, such as the one described in this monograph, are essential tools for assessing the potential of proposed protected areas.