Dynamic set pieces for CAMBADA team

Robotics is an emergent branch of engineering that involves the conception, manufacture, and control of robots. It is a multidisciplinary field that combines electronics, design, computer science, artificial intelligence, mechanics and nanotechnology. Its evolution results in machines that are able to perform tasks with some level of complexity. Multi-agent systems is a researching topic within robotics, thus they allow the solving of higher complexity problems, through the execution of simple routines. Robotic soccer allows the study and development of robotics and multiagent systems, as the agents have to work together as a team, having in consideration most problems found in our quotidian, as for example adaptation to a highly dynamic environment as it is the one of a soccer game. CAMBADA is the robotic soccer team belonging to the group of research IRIS from IEETA, composed by teachers, researchers and students of the University of Aveiro, which annually has as main objective the participation in the RoboCup, in the Middle Size League. The purpose of this work is to improve the coordination in set pieces situations. This thesis introduces a new behavior and the adaptation of the already existing ones in the offensive situation, as well as the proposal of a new positioning method in defensive situations. The developed work was incorporated within the competition software of the robots. Which allows the presentation, in this dissertation, of the experimental results obtained, through simulation software as well as through the physical robots on the laboratory.

Kids, raccoons and roos : awkward encounters and mixed affects

The declining state of the gillnet fishery in Lake Victoria, Uganda

Lake Victoria had a multi-species fishery dominated until the 1970s by the tilapiine and the haplochromine cichlids (Kudhongania and Cordone, 1974). From about 1930 to 1960, the fisheries of Lake Victoria were managed by controlling the mesh size of gill nets. Gill nets of stretched mesh sizes less than 127 mm (5 inches) were prohibited as they cropped immature Oreochromis esculentus (Ngege), the most important commercial species on the lake (Graham, 1929). The catch per night in the legal 127 mm mesh nets was over 30 fish of O. esculentus prior to 1921 but dropped to 6 and 1.5 fish in 1928 and 1954, respectively, (Beauchamp, 1955), indicating overfishing of the stocks. The overall aim of the survey was to determine the available fish stocks being harvested by the gill net fishery. The specific objectives included the determination of the species composition and catch levels. Gill nets of mesh sizes from 25.4 mm (1 inch) to 228.6 mm (9 inches) were used.

The changing fisheries of Lake Victoria, Uganda

Lake Victoria had a complex multi-species fishery dominated until the late 1970s by the tilapiine and haplochromine cichlids but with important subsidiary fisheries of more than 20 genera of non-cichlid fishes. Since the 1980s, however, the fishery has been dominated by the Nile perch (Lates niloticus), Nile tilapia (Oreochromis niloticus eduardianus) both introduced into the lake during the late 1950s and early 1960s and Rastrineobola argentea, a pelagic cyprinid. Although the actual landed commercial catch figures from the Uganda sector of the lake point to the increased landings since 1984, the catch rates in the experimental trawl fishery and mean weight of fish in both experimental trawl and commercial fishery have been on the decline.

Ecoviability for small-scale fisheries in the context of food security constraints

This paper applies a stochastic viability approach to a tropical small-scale fishery, offering a theoretical and empirical example of ecosystem-based fishery management approach that accounts for food security. The model integrates multi-species, multi-fleet and uncertainty as well as profitability, food production, and demographic growth. It is calibrated over the period 2006–2010 using monthly catch and effort data from the French Guiana's coastal fishery, involving thirteen species and four fleets. Using projections at the horizon 2040, different management strategies and scenarios are compared from a viability viewpoint, thus accounting for biodiversity preservation, fleet profitability and food security. The analysis shows that under certain conditions, viable options can be identified which allow fishing intensity and production to be increased to respond to food security requirements but with minimum impacts on the marine resources.

aiTutor : um etutor de agentes inteligentes

Relatório de estágio apresentado para a obtenção do grau de mestre em Educação e Comunicação Multimédia

Fighting Evasive Malware with DVasion

Malware is a foundational component of cyber crime that enables an attacker to modify the normal operation of a computer or access sensitive, digital information. Despite the extensive research performed to identify such programs, existing schemes fail to detect evasive malware, an increasingly popular class of malware that can alter its behavior at run-time, making it difficult to detect using today’s state of the art malware analysis systems. In this thesis, we present DVasion, a comprehensive strategy that exposes such evasive behavior through a multi-execution technique. DVasion successfully detects behavior that would have been missed by traditional, single-execution approaches, while addressing the limitations of previously proposed multi-execution systems. We demonstrate the accuracy of our system through strong parallels with existing work on evasive malware, as well as uncover the hidden behavior within 167 of 1,000 samples.

The SOPHIE search for northern extrasolar planets: X. Detection and characterization of giant planets by the dozen

We present new radial velocity measurements of eight stars that were secured with the spectrograph SOPHIE at the 193 cm telescope of the Haute-Provence Observatory. The measurements allow detecting and characterizing new giant extrasolar planets. The host stars are dwarfs of spectral types between F5 and K0 and magnitudes of between 6.7 and 9.6; the planets have minimum masses Mp sin i of between 0.4 to 3.8 MJup and orbitalperiods of several days to several months. The data allow only single planets to be discovered around the first six stars (HD 143105, HIP 109600, HD 35759, HIP 109384, HD 220842, and HD 12484), but one of them shows the signature of an additional substellar companion in the system. The seventh star, HIP 65407, allows the discovery of two giant planets that orbit just outside the 12:5 resonance in weak mutual interaction. The last star, HD 141399, was already known to host a four-planet system; our additional data and analyses allow new constraints to be set on it. We present Keplerian orbits of all systems, together with dynamical analyses of the two multi-planet systems. HD 143105 is one of the brightest stars known to host a hot Jupiter, which could allow numerous follow-up studies to be conducted even though this is not a transiting system. The giant planets HIP 109600b, HIP 109384b, and HD 141399c are located in the habitable zone of their host star.

Optimal choice of electoral preference data

Electoral researchers are so much accustomed to analyzing the choice of the single most preferred party as the left-hand side variable of their models of electoral behavior that they often ignore revealed preference data. Drawing on random utility theory, their models predict electoral behavior at the extensive margin of choice. Since the seminal work of Luce and others on individual choice behavior, however, many social science disciplines (consumer research, labor market research, travel demand, etc.) have extended their inventory of observed preference data with, for instance, multiple paired comparisons, complete or incomplete rankings, and multiple ratings. Eliciting (voter) preferences using these procedures and applying appropriate choice models is known to considerably increase the efficiency of estimates of causal factors in models of (electoral) behavior. In this paper, we demonstrate the efficiency gain when adding additional preference information to first preferences, up to full ranking data. We do so for multi-party systems of different sizes. We use simulation studies as well as empirical data from the 1972 German election study. Comparing the practical considerations for using ranking and single preference data results in suggestions for choice of measurement instruments in different multi-candidate and multi-party settings.

Modelling and simulating retail management practices: a first approach

Multi-agent systems offer a new and exciting way of understanding the world of work. We apply agent-based modeling and simulation to investigate a set of problems in a retail context. Specifically, we are working to understand the relationship between people management practices on the shop-floor and retail performance. Despite the fact we are working within a relatively novel and complex domain, it is clear that using an agent-based approach offers great potential for improving organizational capabilities in the future. Our multi-disciplinary research team has worked closely with one of the UK’s top ten retailers to collect data and build an understanding of shop-floor operations and the key actors in a department (customers, staff, and managers). Based on this case study we have built and tested our first version of a retail branch agent-based simulation model where we have focused on how we can simulate the effects of people management practices on customer satisfaction and sales. In our experiments we have looked at employee development and cashier empowerment as two examples of shop floor management practices. In this paper we describe the underlying conceptual ideas and the features of our simulation model. We present a selection of experiments we have conducted in order to validate our simulation model and to show its potential for answering “what-if” questions in a retail context. We also introduce a novel performance measure which we have created to quantify customers’ satisfaction with service, based on their individual shopping experiences.

Trammel net selectivity studies in the Algarve (southern Portugal), gulf of cadiz (Spain), Basque coutry (Spain) and cyclades islands (Greece)

Trammel net fisheries were studied in four areas: the Cantabrian Sea (Basque Country, Spain), the Algarve (Southern Portugal), the Gulf of Cádiz (Spain) and the Cyclades Islands (Greece). Surveys were carried out in order to identify trammel net métiers and to characterise the gear used. Trammel nets were among the most important gears used in the small-scale fisheries, with up to 9 different métiers identified in each area. The most important métiers in the Algarve and the Gulf of Cádiz were those for cuttlefish (Sepia officinalis) and soles (Solea senegalensis, Microchirus azevia, Synaptura lusitanica). In the Cantabrian Sea, sole (Solea vulgaris), shellfish (several species) and scorpion fish (Scorpaena spp.) métiers dominated while a variety of species where targeted in the multi-species trammel net fishery in the Cyclades. In each area, experimental trammel nets of six different types (combinations of 2 large mesh outer panel sizes and 3 small mesh outer panels) corresponding to the most common métier, were constructed and fishing trials carried out on a seasonal basis (4 seasons in the Cantabrian Sea, Algarve and Cyclades and 2 in the Gulf of Cádiz) using chartered commercial fishing vessels. Overall, 271, 360, 185 and 185 km of trammel nets were fished in the experimental fishing trials in the Cantabrian Sea, Algarve, Gulf of Cádiz and Cyclades Islands respectively.

Caracterizaçao da pesca recreativa de costa sul e sudoeste de Portugal

Trammel net fisheries were studied in four areas: the Cantabrian Sea (Basque Country, Spain), the Algarve (Southern Portugal), the Gulf of Cádiz (Spain) and the Cyclades Islands (Greece). Surveys were carried out in order to identify trammel net métiers and to characterise the gear used. Trammel nets were among the most important gears used in the small-scale fisheries, with up to 9 different métiers identified in each area. The most important métiers in the Algarve and the Gulf of Cádiz were those for cuttlefish (Sepia officinalis) and soles (Solea senegalensis, Microchirus azevia, Synaptura lusitanica). In the Cantabrian Sea, sole (Solea vulgaris), shellfish (several species) and scorpion fish (Scorpaena spp.) métiers dominated while a variety of species where targeted in the multi-species trammel net fishery in the Cyclades. In each area, experimental trammel nets of six different types (combinations of 2 large mesh outer panel sizes and 3 small mesh outer panels) corresponding to the most common métier, were constructed and fishing trials carried out on a seasonal basis (4 seasons in the Cantabrian Sea, Algarve and Cyclades and 2 in the Gulf of Cádiz) using chartered commercial fishing vessels. Overall, 271, 360, 185 and 185 km of trammel nets were fished in the experimental fishing trials in the Cantabrian Sea, Algarve, Gulf of Cádiz and Cyclades Islands respectively.

Análise paramétrica da simulação composicional do processo de Drenagem Gravitacional Assistida por Gás (GAGD)

In Brazil and around the world, oil companies are looking for, and expected development of new technologies and processes that can increase the oil recovery factor in mature reservoirs, in a simple and inexpensive way. So, the latest research has developed a new process called Gas Assisted Gravity Drainage (GAGD) which was classified as a gas injection IOR. The process, which is undergoing pilot testing in the field, is being extensively studied through physical scale models and core-floods laboratory, due to high oil recoveries in relation to other gas injection IOR. This process consists of injecting gas at the top of a reservoir through horizontal or vertical injector wells and displacing the oil, taking advantage of natural gravity segregation of fluids, to a horizontal producer well placed at the bottom of the reservoir. To study this process it was modeled a homogeneous reservoir and a model of multi-component fluid with characteristics similar to light oil Brazilian fields through a compositional simulator, to optimize the operational parameters. The model of the process was simulated in GEM (CMG, 2009.10). The operational parameters studied were the gas injection rate, the type of gas injection, the location of the injector and production well. We also studied the presence of water drive in the process. The results showed that the maximum vertical spacing between the two wells, caused the maximum recovery of oil in GAGD. Also, it was found that the largest flow injection, it obtained the largest recovery factors. This parameter controls the speed of the front of the gas injected and determined if the gravitational force dominates or not the process in the recovery of oil. Natural gas had better performance than CO2 and that the presence of aquifer in the reservoir was less influential in the process. In economic analysis found that by injecting natural gas is obtained more economically beneficial than CO2

Two roads to planet detection

One of the most exciting discoveries in astrophysics of the last last decade is of the sheer diversity of planetary systems. These include "hot Jupiters", giant planets so close to their host stars that they orbit once every few days; "Super-Earths", planets with sizes intermediate to those of Earth and Neptune, of which no analogs exist in our own solar system; multi-planet systems with planets smaller than Mars to larger than Jupiter; planets orbiting binary stars; free-floating planets flying through the emptiness of space without any star; even planets orbiting pulsars. Despite these remarkable discoveries, the field is still young, and there are many areas about which precious little is known. In particular, we don't know the planets orbiting Sun-like stars nearest to our own solar system, and we know very little about the compositions of extrasolar planets. This thesis provides developments in those directions, through two instrumentation projects.

The first chapter of this thesis concerns detecting planets in the Solar neighborhood using precision stellar radial velocities, also known as the Doppler technique. We present an analysis determining the most efficient way to detect planets considering factors such as spectral type, wavelengths of observation, spectrograph resolution, observing time, and instrumental sensitivity. We show that G and K dwarfs observed at 400-600 nm are the best targets for surveys complete down to a given planet mass and out to a specified orbital period. Overall we find that M dwarfs observed at 700-800 nm are the best targets for habitable-zone planets, particularly when including the effects of systematic noise floors caused by instrumental imperfections. Somewhat surprisingly, we demonstrate that a modestly sized observatory, with a dedicated observing program, is up to the task of discovering such planets.

We present just such an observatory in the second chapter, called the "MINiature Exoplanet Radial Velocity Array," or MINERVA. We describe the design, which uses a novel multi-aperture approach to increase stability and performance through lower system etendue, as well as keeping costs and time to deployment down. We present calculations of the expected planet yield, and data showing the system performance from our testing and development of the system at Caltech's campus. We also present the motivation, design, and performance of a fiber coupling system for the array, critical for efficiently and reliably bringing light from the telescopes to the spectrograph. We finish by presenting the current status of MINERVA, operational at Mt. Hopkins observatory in Arizona.

The second part of this thesis concerns a very different method of planet detection, direct imaging, which involves discovery and characterization of planets by collecting and analyzing their light. Directly analyzing planetary light is the most promising way to study their atmospheres, formation histories, and compositions. Direct imaging is extremely challenging, as it requires a high performance adaptive optics system to unblur the point-spread function of the parent star through the atmosphere, a coronagraph to suppress stellar diffraction, and image post-processing to remove non-common path "speckle" aberrations that can overwhelm any planetary companions.

To this end, we present the "Stellar Double Coronagraph," or SDC, a flexible coronagraphic platform for use with the 200" Hale telescope. It has two focal and pupil planes, allowing for a number of different observing modes, including multiple vortex phase masks in series for improved contrast and inner working angle behind the obscured aperture of the telescope. We present the motivation, design, performance, and data reduction pipeline of the instrument. In the following chapter, we present some early science results, including the first image of a companion to the star delta Andromeda, which had been previously hypothesized but never seen.

A further chapter presents a wavefront control code developed for the instrument, using the technique of "speckle nulling," which can remove optical aberrations from the system using the deformable mirror of the adaptive optics system. This code allows for improved contrast and inner working angles, and was written in a modular style so as to be portable to other high contrast imaging platforms. We present its performance on optical, near-infrared, and thermal infrared instruments on the Palomar and Keck telescopes, showing how it can improve contrasts by a factor of a few in less than ten iterations.

One of the large challenges in direct imaging is sensing and correcting the electric field in the focal plane to remove scattered light that can be much brighter than any planets. In the last chapter, we present a new method of focal-plane wavefront sensing, combining a coronagraph with a simple phase-shifting interferometer. We present its design and implementation on the Stellar Double Coronagraph, demonstrating its ability to create regions of high contrast by measuring and correcting for optical aberrations in the focal plane. Finally, we derive how it is possible to use the same hardware to distinguish companions from speckle errors using the principles of optical coherence. We present results observing the brown dwarf HD 49197b, demonstrating the ability to detect it despite it being buried in the speckle noise floor. We believe this is the first detection of a substellar companion using the coherence properties of light.

Comparative fixed gear studies in the Cyclades (Aegean Sea): size selectivity of small-hook longlines and monofilament gill nets

Fishing trials with monofilament gill nets and longlines using small hooks were carried out at the same fishing grounds in Cyclades (Aegean Sea) over 1 year. Four sizes of MUSTAD brand, round bent, flatted sea hooks (Quality 2316 DT, numbers 15, 13, 12 and 11) and four mesh sizes of 22, 24, 26 and 28 turn nominal bar length monofilament gill nets were used. Significant differences in the catch size frequency distributions of the two gears were found for four out of five of the most important species caught by both the gears (Diplodus annularis, Diplodus vulgaris, Pagellus erythrinus, Scorpaena porcus and Serranus cabrilla), with longlines catching larger fish and a wider size range than gill nets. Whereas longline catch size frequency distributions for most species for the different hook sizes were generally highly overlapped, suggesting little or no differences in size selectivity, gill net catch size frequency distributions clearly showed size selection, with larger mesh sizes catching larger fish. A variety of models were fitted to the gill net data, with the lognormal providing the best fit in most cases. A maximum likelihood method was also used to estimate the parameters of the logistic model for the longline data. Because of the highly overlapped longline catch size frequency distributions parameters could only be estimated for two species. This study shows that the two static gears have different impacts in terms of size selection. This information will be useful for the more effective management of these small-scale, multi-species and multi-gear fisheries. (C) 2002 Elsevier Science B.V. All rights reserved.