A Multi-DAG Model for Real-Time Parallel Applications with Conditional Execution

The 30th ACM/SIGAPP Symposium On Applied Computing (SAC 2015). 13 to 17, Apr, 2015, Embedded Systems. Salamanca, Spain.

Allocation of Parallel Real-Time Tasks in Distributed Multi-core Architectures supported by an FTT-SE Network

Distributed real-time systems such as automotive applications are becoming larger and more complex, thus, requiring the use of more powerful hardware and software architectures. Furthermore, those distributed applications commonly have stringent real-time constraints. This implies that such applications would gain in flexibility if they were parallelized and distributed over the system. In this paper, we consider the problem of allocating fixed-priority fork-join Parallel/Distributed real-time tasks onto distributed multi-core nodes connected through a Flexible Time Triggered Switched Ethernet network. We analyze the system requirements and present a set of formulations based on a constraint programming approach. Constraint programming allows us to express the relations between variables in the form of constraints. Our approach is guaranteed to find a feasible solution, if one exists, in contrast to other approaches based on heuristics. Furthermore, approaches based on constraint programming have shown to obtain solutions for these type of formulations in reasonable time.

A Real Time Vision System for Autonomous Systems: Characterization during a Middle Size Match

in RoboCup 2007: Robot Soccer World Cup XI

Study of forbidden transitions in atomic systems

A Thesis submitted for the co-tutelle degree of Doctor in Physics at Universidade Nova de Lisboa and Université Pierre et Marie Curie

Task partitioning and priority assignment for distributed hard real-time systems

In this paper, we propose the Distributed using Optimal Priority Assignment (DOPA) heuristic that finds a feasible partitioning and priority assignment for distributed applications based on the linear transactional model. DOPA partitions the tasks and messages in the distributed system, and makes use of the Optimal Priority Assignment (OPA) algorithm known as Audsley’s algorithm, to find the priorities for that partition. The experimental results show how the use of the OPA algorithm increases in average the number of schedulable tasks and messages in a distributed system when compared to the use of Deadline Monotonic (DM) usually favoured in other works. Afterwards, we extend these results to the assignment of Parallel/Distributed applications and present a second heuristic named Parallel-DOPA (P-DOPA). In that case, we show how the partitioning process can be simplified by using the Distributed Stretch Transformation (DST), a parallel transaction transformation algorithm introduced in [1].

P-SOCRATES: A parallel software framework for time-critical many-core systems

Article in Press, Corrected Proof

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.

Kinematic Manipulability of Robotic Systems

Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determine the adequate values for the robot parameters to obtain a good performence. This paper discusses several aspects related with the manipulability of two co-operative robots when handling objects with different lengths and orientations. In this line of thought, a numerical tool is developed for the calculation and the graphical visualization of the manipulability measure.

Sensor Integration for Smart Cities Using Multi-Hop Networks

Smart Cities are designed to be living systems and turn urban dwellers life more comfortable and interactive by keeping them aware of what surrounds them, while leaving a greener footprint. The Future Cities Project [1] aims to create infrastructures for research in smart cities including a vehicular network, the BusNet, and an environmental sensor platform, the Urban Sense. Vehicles within the BusNet are equipped with On Board Units (OBUs) that offer free Wi-Fi to passengers and devices near the street. The Urban Sense platform is composed by a set of Data Collection Units (DCUs) that include a set of sensors measuring environmental parameters such as air pollution, meteorology and noise. The Urban Sense platform is expanding and receptive to add new sensors to the platform. The parnership with companies like TNL were made and the need to monitor garbage street containers emerged as air pollution prevention. If refuse collection companies know prior to the refuse collection which route is the best to collect the maximum amount of garbage with the shortest path, they can reduce costs and pollution levels are lower, leaving behind a greener footprint. This dissertation work arises in the need to monitor the garbage street containers and integrate these sensors into an Urban Sense DCU. Due to the remote locations of the garbage street containers, a network extension to the vehicular network had to be created. This dissertation work also focus on the Multi-hop network designed to extend the vehicular network coverage area to the remote garbage street containers. In locations where garbage street containers have access to the vehicular network, Roadside Units (RSUs) or Access Points (APs), the Multi-hop network serves has a redundant path to send the data collected from DCUs to the Urban Sense cloud database. To plan this highly dynamic network, the Wi-Fi Planner Tool was developed. This tool allowed taking measurements on the field that led to an optimized location of the Multi-hop network nodes with the use of radio propagation models. This tool also allowed rendering a temperature-map style overlay for Google Earth [2] application. For the DCU for garbage street containers the parner company provided the access to a HUB (device that communicates with the sensor inside the garbage containers). The Future Cities use the Raspberry pi as a platform for the DCUs. To collect the data from the HUB a RS485 to RS232 converter was used at the physical level and the Modbus protocol at the application level. To determine the location and status of the vehicles whinin the vehicular network a TCP Server was developed. This application was developed for the OBUs providing the vehicle Global Positioning System (GPS) location as well as information of when the vehicle is stopped, moving, on idle or even its slope. To implement the Multi-hop network on the field some scripts were developed such as pingLED and “shark”. These scripts helped upon node deployment on the field as well as to perform all the tests on the network. Two setups were implemented on the field, an urban setup was implemented for a Multi-hop network coverage survey and a sub-urban setup was implemented to test the Multi-hop network routing protocols, Optimized Link State Routing Protocol (OLSR) and Babel.

The inhibitory activity of synthetic compounds and ions against transporters of multi-drug resistant bacteria

RESUMO: Sessenta e três derivados de hidantoína foram utilizados para avaliar possíveis efeitos de modulação na actividade das bombas de efluxo (BE) na Salmonella NCTC 13349 utilizando um método fluorimétrico semi-automático. Nenhum dos compostos apresentaram actividade anti-bacteriana até concentrações de 240 mg/L. Entre todos os compostos, SZ-7 demonstrou possuir propriedades de modulação de effluxo na presença de glucose. Para testar esta actividade, estirpes de Salmonella resistentes à ciprofloxacina, induzidas a elevados níveis de resistência com sobre-expressão de BE, foram expostas ao SZ-7. Este derivado afectou a susceptibilidade das estirpes à ciprofloxacina. Uma vez que os 63 compostos estudados apresentaram pouco efeito inibitório /cumulativo, apesar de serem conhecidos pelos seus efeitos moduladores de BE-dependentes de iões em eucariotas, foi questionado o papel dos iões na regulação de BE bacterianas, que poderão influenciar a eficácia de novos compostos. Para este estudo, utilizamos a Escherichia coli AG100 como modelo, devido ao extenso conhecimento no que respeita a estrutura e actividade das BE. Devido à importância de iões de cálcio (Ca2+) nos canais de transporte membranar e na actividade de ATPases, a sua actividade na modulação do efluxo foi investigada. De resultados anteriormente obtidos concluiu-se que a pH 5 o efluxo é independente de energia metabólica; contudo, a pH 8 é absolutamente dependente, sendo que o Ca2+ é indispensável para manter a actividade das ATPases bacterianas. A acumulação/effluxo de EtBr pela E. coli AG100 foi determinada na presença/ausência de Ca2+, clorpromazina (inibidor de ligação de Ca2+ a proteínas), e ácido etilenodiamino tetra-acético (quelante de Ca2+). Acumulação/effluxo aumentou a pH 8, contudo o Ca2+ reverte estes efeitos evidenciando a sua importância no funcionamento das BE bacterianas. Em resumo este trabalho colocou em evidência que muitos aspectos bioquímicos e bioenergéticos devem ser tomados em consideração no estudo da resistência bacteriana mediada por BE.------- ABSTRACT: Sixty-three hydantoin derivatives were evaluated for their modulating effects on efflux pump (EP) activity of Salmonella NCTC 13349 utilizing a semi-automatic fluorometric method. None of the compounds presented antibacterial activities at concentrations as high as 240 mg/L. Among all compounds, SZ-7 showed possible efflux modulating activity in the presence of glucose, indicative of a potential EP inhibitor. To verify its potential effects, ciprofloxacin-resistant Salmonella strains, induced to high level resistance with over-expressing EPs, were exposed to SZ-7. This derivative affected the susceptibility of the ciprofloxacin-resistant strains. Since the 63 compounds studied had very low inhibitory/accumulative effects, even though their known for being efficient in modulating ion-driven eukaryotic EPs, we questioned whether ions had a leading role in regulating bacterial EPs, influencing the effectiveness of new compounds. For this study we used Escherichia coli AG100 as a model, due to the extensive knowledge on its EPs structure and activity. Owing the importance of calcium ions (Ca2+) for membrane transport channels and activity of ATPases, the role of Ca2+ was investigated. From previous results we concluded that at pH 5 efflux is independent of metabolic energy; however, at pH 8 it is entirely dependent of metabolic energy and the Ca2+ ions are essential to maintain the activity of bacterial ATPases. Accumulation and efflux of ethidium bromide (EtBr) by E. coli AG100 was determined in the presence and absence of Ca2+, chlorpromazine (inhibitor of Ca2+-binding to proteins), and ethylenediaminetetraacetic acid (Ca2+ chelator). Accumulation of EtBr increased at pH 8; however Ca2+ reversed these effects providing information as to the importance of this ion in the regulation of bacterial EP systems. Overall this work puts in evidence that many biochemical and bioenergetic aspects related to the strains physiology need to be taken into consideration in bacterial drug resistance mediated by EPs.

Desenvolvimento e Controlo de um Veículo Autónomo Aéreo Quadrotor

A crescente necessidade de meios de inspecção e recolha de informação de infraestruturas e do meio ambiente natural, origina o recurso a meios tecnológicos cada vez mais evoluídos. Neste contexto, os robôs móveis autónomos aéreos surgem como uma ferramenta importante. Em particular, os veículos aéreos de asa móvel, pela sua manobrabilidade e controlo podem-se utilizar eficazmente em meios complexos como cenários interiores onde o ambiente é parcialmente controlado. A sua utilização em coordenação com outros veículos robóticos móveis e em particular com a crescente autonomia de decisão, permitem uma eficiência elevada, por exemplo, em tarefas de recolha automática de informação, vigilância, apoio a comunicações, etc. A inexistência de um veículo autónomo de asa móvel no cenário multi-robótico desenvolvido pelo Laboratório de Sistemas Autónomos do Instituto Superior de Engenharia do Porto, aliada às suas aplicações referidas, criou a necessidade do desenvolvimento de um veículo desta gama. Identificou-se, pois, o desenvolvimento de um veículo autónomo aéreo do tipo quadrotor com capacidade de vôo base estabilizado como o problema a resolver. Foi efectuado um levantamento de requisitos do sistema, a caracterização de um veículo autónomo aéreo Vertical Take-off and Landing - VTOL, e efectuado um trabalho de pesquisa a fim de possibilitar o conhecimento das técnicas e tecnologias envolvidas. Tendo em vista o objectivo de controlo e estabilização do veículo, foi efectuada a modelização do sistema que serviu não só para a melhor compreensão da sua dinâmica mas também para o desenvolvimento de um simulador que possibilitou a validação de estratégias de controlo e avaliação de comportamentos do veículo para diferentes cenários. A inexistência de controladores de motores brushless adequada (frequência de controlo), originou o desenvolvimento de um controlador dedicado para motores brushless, motores esses utilizados para a propulsão do veículo. Este controlador permite uma taxa de controlo a uma frequência de 20KHz, possui múltiplas interfaces de comunicação (CAN, RS232, Ethernet, SPI e JTAG), é de reduzido peso e dimensões e modular, visto ter sido implementado em dois módulos, i.e., permite a sua utilização com diferentes interfaces de potência. Projectou-se um veículo autónomo aéreo em termos físicos com a definição da sua arquitectura de hardware e software bem como o sistema de controlo de vôo. O sistema de estabilização de vôo compreende o processamento de informação fornecida por um sistema de navegação inercial, um sonar e o envio de referências de velocidade para cada um dos nós de controlo ligados a um barramento CAN instalado no veículo. A implementação do veículo foi alcançada nas suas vertentes mecânica, de hardware e software. O UAV foi equipado com um sistema computacional dotando-o de capacidades para o desempenho de tarefas previamente analisadas. No presente trabalho, são também tiradas algumas conclusões sobre o desenvolvimento do sistema e sua implementação bem como perspectivada a sua evolução futura no contexto de missões coordenadas de múltiplos veículos robóticos.

Automatic Small Bowel Tumor Diagnosis by Using Multi-Scale Wavelet-Based Analysis in Wireless Capsule Endoscopy Images

BACKGROUND: Wireless capsule endoscopy has been introduced as an innovative, non-invasive diagnostic technique for evaluation of the gastrointestinal tract, reaching places where conventional endoscopy is unable to. However, the output of this technique is an 8 hours video, whose analysis by the expert physician is very time consuming. Thus, a computer assisted diagnosis tool to help the physicians to evaluate CE exams faster and more accurately is an important technical challenge and an excellent economical opportunity. METHOD: The set of features proposed in this paper to code textural information is based on statistical modeling of second order textural measures extracted from co-occurrence matrices. To cope with both joint and marginal non-Gaussianity of second order textural measures, higher order moments are used. These statistical moments are taken from the two-dimensional color-scale feature space, where two different scales are considered. Second and higher order moments of textural measures are computed from the co-occurrence matrices computed from images synthesized by the inverse wavelet transform of the wavelet transform containing only the selected scales for the three color channels. The dimensionality of the data is reduced by using Principal Component Analysis. RESULTS: The proposed textural features are then used as the input of a classifier based on artificial neural networks. Classification performances of 93.1% specificity and 93.9% sensitivity are achieved on real data. These promising results open the path towards a deeper study regarding the applicability of this algorithm in computer aided diagnosis systems to assist physicians in their clinical practice.

An agent based architecture for material handling systems

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Multi-GPU support on the marrow algorithmic skeleton framework

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

A constructive technology assessment of stationary energy storage systems: prospective life cycle orientated analysis

Based on the presentation and discussion at the 3rd Winter School on Technology Assessment, December 2012, Universidade Nova de Lisboa (Portugal), Caparica Campus, PhD programme on Technology Assessment