O Balanced Scorecard como instrumento de gestão estratégica: sua implementação numa empresa de engenharia e construção

Mestrado em Contabilidade e Gestão das Instituições Financeiras

Two cooperating manipulators with fractional controllers

This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

A terapia ocupacional como recurso para idosos institucionalizados: um estudo de avaliação das necessidades ocupacionais

RESUMO: O envelhecimento populacional está associado a necessidades de saúde, incluindo aspectos ligados à realização das actividades quotidianas e à vertente ocupacional em geral.O presente estudo procurou identificar as necessidades ocupacionais de uma amostra de idosos institucionalizados e avaliar alterações no desempenho ocupacional e na satisfação após participação num programa de actividades terapêuticas. A amostra foi constituída por 20 indivíduos, com uma média de idades de 86,2 anos (DP=6,0), maioritariamente do sexo feminino e viúvos, com níveis de escolaridade diversos, sem défice cognitivo grave, provenientes de duas instituições para idosos em Lisboa. Os instrumentos utilizados foram entrevista de caracterização sócio-demográfica. Mini- Mental State Examination. Índice de Katz e Medida Canadiana de Desempenho Ocupacional. Após a participação no programa de actividades, oito indivíduos mantiveram as notas de desempenho e de satisfação na Medida Canadiana; cinco apresentaram aumento em ambas as notas; para dois, o desempenho permaneceu inalterado e o grau de satisfação diminuiu; finalmente, três deixaram de ter pelo menos um problema no desempenho, destacando-se um indivíduo que deixou de ter problemas para se alimentar, tornando-se independente nesta área. Comparando as avaliações iniciais e as reavaliações pósintervenção, não se registaram diferenças significativas nas pontuações de desempenho nem de satisfação da Medida Canadiana. Em conclusão, muitos dos participantes do estudo referiram um desempenho deficiente em muitas actividades ocupacionais que valorizavam, assim como um grau elevado de insatisfação em relação a esse desempenho. Apesar de ter tido algum impacto nas necessidades ocupacionais dos participantes, o programa de actividades não pareceu trazer benefícios generalizados nesta pequena amostra.------------ABSTRACT:The aging process in institutionalized populations has implications that encompass various issues related to health, including occupational development and the performance of daily activities. It was this study’s objective to identify the occupational needs of a sample of institutionalized elderly and to identify the existence of changes in occupational performance and satisfaction after participation in a program of therapeutic activities. The sample consisted of 20 individuals (mostly female and widowed) from two nursing homes in Lisbon, having various levels of education and an average age of 86,2 years (SD=6,0) as well as the ability of verbal expression without severe cognitive deficit. The instruments used were a structured interview for socio-demographic characterization, the Mini Mental State Examination, the Katz Index and the Canadian Occupational Performance Measure. We found that older respondents claimed that the performance of daily activities constituted a problem. They stated that the activities of self-care and leisure were the most problematic, that they had negative self-perceptions regarding their own performance, and that they were dissatisfied with this performance of their daily activities. After participating in program activities, eight respondents experienced no change in their respective grades of performance and satisfaction, five showed increases in both grades and, for two respondents, the performance remained unchanged while the satisfaction level showed a decline. Three stopped having at least one problem in performance, and one participant even stopped referring feeding problems, having become independent in this area. Regarding the evolution of the Canadian Measure performance and satisfaction scores (before versus after the intervention), we found no significant differences. In conclusion, most participants stated that they were performing badly in what concerned the occupational activities they valued the most. The same applies to low levels of satisfaction regarding that performance. In this small sample, and despite some benefits, the program of therapeutic activities did not prove to be significantly effective.

Análise do Desempenho de Técnicas de Otimização no Problema de Escalonamento

A optimização nas aplicações modernas assume um carácter fortemente interdisciplinar, relacionando-se com a necessidade de integração de diferentes técnicas e paradigmas na resolução de problemas reais complexos. O problema do escalonamento é recorrente no planeamento da produção. Sempre que uma ordem de fabrico é lançada, é necessário determinar que recursos serão utilizados e em que sequência as atividades serão executadas, para otimizar uma dada medida de desempenho. Embora ainda existam empresas a abordar o problema do escalonamento através de simples heurísticas, a proposta de sistemas de escalonamento tem-se evidenciado na literatura. Pretende-se nesta dissertação, a realização da análise de desempenho de Técnicas de Optimização, nomeadamente as meta-heurísticas, na resolução de problemas de optimização complexos – escalonamento de tarefas, particularmente no problema de minimização dos atrasos ponderados, 1||ΣwjTj. Assim sendo, foi desenvolvido um protótipo que serviu de suporte ao estudo computacional, com vista à avaliação do desempenho do Simulated Annealing (SA) e o Discrete Artificial Bee Colony (DABC). A resolução eficiente de um problema requer, em geral, a aplicação de diferentes métodos, e a afinação dos respetivos parâmetros. A afinação dos parâmetros pode permitir uma maior flexibilidade e robustez mas requer uma inicialização cuidadosa. Os parâmetros podem ter uma grande influência na eficiência e eficácia da pesquisa. A sua definição deve resultar de um cuidadoso esforço experimental no sentido da respectiva especificação. Foi usado, no âmbito deste trabalho de mestrado, para suportar a fase de parametrização das meta-heurísticas em análise, o planeamento de experiências de Taguchi. Da análise dos resultados, foi possível concluir que existem vantagem estatisticamente significativa no desempenho do DABC, mas quando analisada a eficiência é possível concluir que há vantagem do SA, que necessita de menos tempo computacional.

O impacto da gestão de fundo de maneio na rendibilidade das empresas durante a crise financeira: evidência europeia

Dissertação de mestrado em Finanças

Sintonización dinámica de aplicaciones MPI

En la actualidad, la computación de altas prestaciones está siendo utilizada en multitud de campos científicos donde los distintos problemas estudiados se resuelven mediante aplicaciones paralelas/distribuidas. Estas aplicaciones requieren gran capacidad de cómputo, bien sea por la complejidad de los problemas o por la necesidad de solventar situaciones en tiempo real. Por lo tanto se debe aprovechar los recursos y altas capacidades computacionales de los sistemas paralelos en los que se ejecutan estas aplicaciones con el fin de obtener un buen rendimiento. Sin embargo, lograr este rendimiento en una aplicación ejecutándose en un sistema es una dura tarea que requiere un alto grado de experiencia, especialmente cuando se trata de aplicaciones que presentan un comportamiento dinámico o cuando se usan sistemas heterogéneos. En estos casos actualmente se plantea realizar una mejora de rendimiento automática y dinámica de las aplicaciones como mejor enfoque para el análisis del rendimiento. El presente trabajo de investigación se sitúa dentro de este ámbito de estudio y su objetivo principal es sintonizar dinámicamente mediante MATE (Monitoring, Analysis and Tuning Environment) una aplicación MPI empleada en computación de altas prestaciones que siga un paradigma Master/Worker. Las técnicas de sintonización integradas en MATE han sido desarrolladas a partir del estudio de un modelo de rendimiento que refleja los cuellos de botella propios de aplicaciones situadas bajo un paradigma Master/Worker: balanceo de carga y número de workers. La ejecución de la aplicación elegida bajo el control dinámico de MATE y de la estrategia de sintonización implementada ha permitido observar la adaptación del comportamiento de dicha aplicación a las condiciones actuales del sistema donde se ejecuta, obteniendo así una mejora de su rendimiento.

Behavioral aspects of investment fund's markets: are good managers lucky or skilled?

It is generally accepted that financial markets are efficient in the long run a lthough there may be some deviations in the short run. It is also accepted that a good portfolio manager is the one who beats the market persistently along time, this type of manager could not exist if markets were perfectly efficient According to this in a pure efficient market we should find that managers know that they can not beat the market so they would undertake only pure passive management strategies. Assuming a certain degree of inefficiency in the short run, a market may show some managers who tr y to beat the market by undertaking active strategies. From Fama’s efficient markets theory we can state that these active managers may beat the market occasionally although they will not be able to enhance significantly their performance in the long run. On the other hand, in an inefficient market it would be expected to find a higher level of activity related with the higher probability of beating the market. In this paper we follow two objectives: first, we set a basis to analyse the level of efficiency in an asset invest- ment funds market by measuring performance, strategies activity and it’s persistence for a certain group of funds during the period of study. Second, we analyse individual performance persistence in order to determine the existence of skilled managers. The CAPM model is taken as theoretical background and the use of the Sharpe’s ratio as a suitable performance measure in a limited information environment leads to a group performance measurement proposal. The empiri- cal study takes quarterly data from 1999-2007 period, for the whole population of the Spanish asset investment funds market, provided by the CNMV (Comisión Nacional del Mercado de Valores). This period of study has been chosen to ensure a wide enough range of efficient market observation so it would allow us to set a proper basis to compare with the following period. As a result we develop a model that allows us to measure efficiency in a given asset mutual funds market, based on the level of strategy’s activity undertaken by managers. We also observe persistence in individual performance for a certain group of funds

Taajuusmuuttajien suorituskyvyn automaattinen testausympäristö

Tämä insinöörityö tehtiin ABB Oy, Drivesin Product AC -tulosyksikön tuotekehitysosastolle Helsingissä. Työssä kehitettiin taajuusmuuttajien suorituskyvyn automaattinen testausympäristö. ABB:n taajuusmuuttajien suorituskykytestejä ei ole aikaisemmin automatisoitu. Testit on tehty käsin ja niiden suorittamiseen ja tulosten käsittelyyn on kulunut paljon aikaa. Automaattisella testauksella pyrittiin testien suorittamiseen ja tulosten käsittelyyn kuluvan ajan huomattavaan pienentymiseen. Työssä ei ollut tarkoituksena tehdä suorituskykytestejä vaan kehittää automaattinen testausympäristö eli suorituskykytestipenkki, jossa suorituskykytestit on mahdollista suorittaa. Työssä keskityttiin taajuusmuuttajan nopeus- ja momenttisäätäjien suorituskykyyn. Työ toteutettiin suunnittelu- ja ohjelmointityönä. Testausympäristön laitteisto perustuu ABB:n tuotekehityslaboratorioiden olemassaoleviin testipaikkoihin. Testausympäristössä käytetään taajuusmuuttajien lisäksi pääasiassa kolmivaiheisia oikosulkumoottoreita. Lisäksi laitteistoon kuuluu ACS800-sarjan taajuusmuuttaja kuormakäyttönä, momenttianturi ja takometri eli kierrosnopeusmittari. Ohjelmointi tehtiin National Instrumentsin LabVIEW-ohjelmointiympäristön versiolla 8.0. Testausympäristön käyttöliittymänä toimii saman yrityksen TestStand-testausohjelmiston versio 3.5. Testattavien taajuusmuuttajien ohjausta ja momenttianturin lukemista varten ohjelmoitiin virtuaali-instrumentteja. Virtuaali-instrumentteja kutsutaan TestStand-testisekvensseistä. Testisekvenssit luodaan TestStandin sekvenssieditorilla ja suoritetaan sekvenssieditorissa tai operaattorin käyttöliittymässä. Työn tuloksena syntyi taajuusmuuttajien suorituskyvyn automaattinen testausympäristö. Testausympäristöä voidaan hyödyntää sekä nykyisen että seuraavan sukupolven taajuusmuuttajien testauksessa. Sillä on mahdollista suorittaa yleisimmät taajuusmuuttajien suorituskykytestit, kuten nopeus- ja momenttisäätöjen staattinen ja dynaaminen tarkkuus, hyvin kattavasti. Testit voidaan automaattisesti suorittaa koko testikäytön sallimalla pyörimisnopeus- ja kuormitusalueella. Näytteenottotaajuus voi olla enintään 1 kHz luettaessa pyörimisnopeutta ACS800-sarjan taajuusmuuttajan kautta ja momenttianturia samanaikaisesti. Virtuaali-instrumenteista koostuvia testisekvenssejä voidaan vapaasti muokata ja kehittää testejä edelleen tai luoda kokonaan uusia testejä. Testausympäristö perustuu teollisuudessa yleisesti käytettyihin ohjelmistoihin ja tarjoaa hyvät mahdollisuudet jatkokehitykselle.

Solving two production scheduling problems with sequence-dependent set-up times

In today’s competitive markets, the importance of goodscheduling strategies in manufacturing companies lead to theneed of developing efficient methods to solve complexscheduling problems.In this paper, we studied two production scheduling problemswith sequence-dependent setups times. The setup times areone of the most common complications in scheduling problems,and are usually associated with cleaning operations andchanging tools and shapes in machines.The first problem considered is a single-machine schedulingwith release dates, sequence-dependent setup times anddelivery times. The performance measure is the maximumlateness.The second problem is a job-shop scheduling problem withsequence-dependent setup times where the objective is tominimize the makespan.We present several priority dispatching rules for bothproblems, followed by a study of their performance. Finally,conclusions and directions of future research are presented.

A study compared nine patient-specific indices for musculoskeletal disorders.

BACKGROUND AND OBJECTIVE: Patient-specific quality of life indices show great potential, but certain conceptual and methodological concerns have yet to be fully addressed. The present study reviewed nine patient-specific instruments used in musculoskeletal disorders: the Canadian Occupational Performance Measure (COPM), Juvenile Arthritis Quality of life Questionnaire (JAQQ), McMaster-Toronto Arthritis questionnaire (MACTAR), Measure Yourself Medical Outcome Profile (MYMOP), Patient-Specific Index (PASI) for total hip arthroplasty, Problem Elicitation Technique (PET), Patient Generated Index (PGI) of quality of life, Patient-Specific Functional Scale (PSFS), and Schedule for the Evaluation of Individual Quality of Life (SEIQoL). STUDY DESIGN AND SETTING: Each tool was evaluated for purpose, content validity, face validity, feasibility, psychometric properties, and responsiveness. RESULTS: This critical appraisal revealed important differences in terms of the concept underlying these indices, the domains covered, the item-generation techniques and the scoring (response scale, methods) in each scale. The nine indices would generate different responses and likely scores for the same patient, despite the fact that they all include patient-generated items. CONCLUSION: Although the value of these indices in treatment planning and monitoring at an individual level is strong, more studies are needed to improve our understanding of how to interpret the numeric scores of patient-specific indices at both an individual and a group level.

Effectiveness of Work Zone Intelligent Transportation Systems, TPF-5(081), 2013

In the last decade, Intelligent Transportation Systems (ITS) have increasingly been deployed in work zones by state departments of transportation. Also known as smart work zone systems they improve traffic operations and safety by providing real-time information to travelers, monitoring traffic conditions, and managing incidents. Although there have been numerous ITS deployments in work zones, a framework for evaluating the effectiveness of these deployments does not exist. To justify the continued development and implementation of smart work zone systems, this study developed a framework to determine ITS effectiveness for specific work zone projects. The framework recommends using one or more of five performance measures: diversion rate, delay time, queue length, crash frequency, and speed. The monetary benefits and costs of ITS deployment in a work zone can then be computed using the performance measure values. Such ITS computations include additional considerations that are typically not present in standard benefit-cost computations. The proposed framework will allow for consistency in performance measures across different ITS studies thus allowing for comparisons across studies or for meta analysis. In addition, guidance on the circumstances under which ITS deployment is recommended for a work zone is provided. The framework was illustrated using two case studies: one urban work zone on I-70 and one rural work zone on I-44, in Missouri. The goals of the two ITS deployments were different – the I-70 ITS deployment was targeted at improving mobility whereas the I-44 deployment was targeted at improving safety. For the I-70 site, only permanent ITS equipment that was already in place was used for the project and no temporary ITS equipment was deployed. The permanent DMS equipment serves multiple purposes, and it is arguable whether that cost should be attributed to the work zone project. The data collection effort for the I-70 site was very significant as portable surveillance captured the actual diversion flows to alternative routes. The benefit-cost ratio for the I-70 site was 2.1 to 1 if adjusted equipment costs were included and 6.9 to 1 without equipment costs. The safety-focused I-44 ITS deployment had an estimated benefit-cost ratio of 3.2 to 1.

Converter-flux-based current control of voltage source PWM rectifiers - analysis and implementation

Pulsewidth-modulated (PWM) rectifier technology is increasingly used in industrial applications like variable-speed motor drives, since it offers several desired features such as sinusoidal input currents, controllable power factor, bidirectional power flow and high quality DC output voltage. To achieve these features,however, an effective control system with fast and accurate current and DC voltage responses is required. From various control strategies proposed to meet these control objectives, in most cases the commonly known principle of the synchronous-frame current vector control along with some space-vector PWM scheme have been applied. Recently, however, new control approaches analogous to the well-established direct torque control (DTC) method for electrical machines have also emerged to implement a high-performance PWM rectifier. In this thesis the concepts of classical synchronous-frame current control and DTC-based PWM rectifier control are combined and a new converter-flux-based current control (CFCC) scheme is introduced. To achieve sufficient dynamic performance and to ensure a stable operation, the proposed control system is thoroughly analysed and simple rules for the controller design are suggested. Special attention is paid to the estimationof the converter flux, which is the key element of converter-flux-based control. Discrete-time implementation is also discussed. Line-voltage-sensorless reactive reactive power control methods for the L- and LCL-type line filters are presented. For the L-filter an open-loop control law for the d-axis current referenceis proposed. In the case of the LCL-filter the combined open-loop control and feedback control is proposed. The influence of the erroneous filter parameter estimates on the accuracy of the developed control schemes is also discussed. A newzero vector selection rule for suppressing the zero-sequence current in parallel-connected PWM rectifiers is proposed. With this method a truly standalone and independent control of the converter units is allowed and traditional transformer isolation and synchronised-control-based solutions are avoided. The implementation requires only one additional current sensor. The proposed schemes are evaluated by the simulations and laboratory experiments. A satisfactory performance and good agreement between the theory and practice are demonstrated.

Permanent magnet synchronous motor for industrial inverter applications - analysis and design

During the latest few years the need for new motor types has grown, since both high efficiency and an accurate dynamic performance are demanded in industrial applications. For this reason, new effective control systems such as direct torque control (DTC) have been developed. Permanent magnet synchronous motors (PMSM) are well suitable for new adjustable speed AC inverter drives, because their efficiency and power factor are not depending on the pole pair number and speed to the same extent as it is the case in induction motors. Therefore, an induction motor (IM) with a mechanical gearbox can often be replaced with a direct PM motor drive. Space as well as costs will be saved, because the efficiency increases and the cost of maintenance decreases as well. This thesis deals with design criterion, analytical calculation and analysis of the permanent magnet synchronous motor for both sinusoidal air-gap flux density and rectangular air-gapflux density. It is examined how the air-gap flux, flux densities, inductances and torque can be estimated analytically for salient pole and non-salient pole motors. It has been sought by means of analytical calculations for the ultimate construction for machines rotating at relative low 300 rpm to 600 rpm speeds, which are suitable speeds e.g. in Pulp&Paper industry. The calculations are verified by using Finite Element calculations and by measuring of prototype motor. The prototype motor is a 45 kW, 600 rpm PMSM with buried V-magnets, which is a very appropriate construction for high torque motors with a high performance. With the purposebuilt prototype machine it is possible not only to verify the analytical calculations but also to show whether the 600 rpm PMSM can replace the 1500 rpm IM with a gear. It can also be tested if the outer dimensions of the PMSM may be the same as for the IM and if the PMSM in this case can produce a 2.5 fold torque, in consequence of which it may be possible to achieve the same power. The thesis also considers the question how to design a permanent magnet synchronous motor for relatively low speed applications that require a high motor torqueand efficiency as well as bearable costs of permanent magnet materials. It is shown how a selection of different parameters affects the motor properties. Key words: Permanent magnet synchronous motor, PMSM, surface magnets, buried magnets

Direct torque control of permanent magnet synchronous machines - analysis and implementation

Thedirect torque control (DTC) has become an accepted vector control method besidethe current vector control. The DTC was first applied to asynchronous machines,and has later been applied also to synchronous machines. This thesis analyses the application of the DTC to permanent magnet synchronous machines (PMSM). In order to take the full advantage of the DTC, the PMSM has to be properly dimensioned. Therefore the effect of the motor parameters is analysed taking the control principle into account. Based on the analysis, a parameter selection procedure is presented. The analysis and the selection procedure utilize nonlinear optimization methods. The key element of a direct torque controlled drive is the estimation of the stator flux linkage. Different estimation methods - a combination of current and voltage models and improved integration methods - are analysed. The effect of an incorrect measured rotor angle in the current model is analysed andan error detection and compensation method is presented. The dynamic performance of an earlier presented sensorless flux estimation method is made better by improving the dynamic performance of the low-pass filter used and by adapting the correction of the flux linkage to torque changes. A method for the estimation ofthe initial angle of the rotor is presented. The method is based on measuring the inductance of the machine in several directions and fitting the measurements into a model. The model is nonlinear with respect to the rotor angle and therefore a nonlinear least squares optimization method is needed in the procedure. A commonly used current vector control scheme is the minimum current control. In the DTC the stator flux linkage reference is usually kept constant. Achieving the minimum current requires the control of the reference. An on-line method to perform the minimization of the current by controlling the stator flux linkage reference is presented. Also, the control of the reference above the base speed is considered. A new estimation flux linkage is introduced for the estimation of the parameters of the machine model. In order to utilize the flux linkage estimates in off-line parameter estimation, the integration methods are improved. An adaptive correction is used in the same way as in the estimation of the controller stator flux linkage. The presented parameter estimation methods are then used in aself-commissioning scheme. The proposed methods are tested with a laboratory drive, which consists of a commercial inverter hardware with a modified software and several prototype PMSMs.

Induction motor versus permanent magnet synchronous motor in motion control applications: a comparative study

High dynamic performance of an electric motor is a fundamental prerequisite in motion control applications, also known as servo drives. Recent developments in the field of microprocessors and power electronics have enabled faster and faster movements with an electric motor. In such a dynamically demanding application, the dimensioning of the motor differs substantially from the industrial motor design, where feasible characteristics of the motor are for example high efficiency, a high power factor, and a low price. In motion control instead, such characteristics as high overloading capability, high-speed operation, high torque density and low inertia are required. The thesis investigates how the dimensioning of a high-performance servomotor differs from the dimensioning of industrial motors. The two most common servomotor types are examined; an induction motor and apermanent magnet synchronous motor. The suitability of these two motor types indynamically demanding servo applications is assessed, and the design aspects that optimize the servo characteristics of the motors are analyzed. Operating characteristics of a high performance motor are studied, and some methods for improvements are suggested. The main focus is on the induction machine, which is frequently compared to the permanent magnet synchronous motor. A 4 kW prototype induction motor was designed and manufactured for the verification of the simulation results in the laboratory conditions. Also a dynamic simulation model for estimating the thermal behaviour of the induction motor in servo applications was constructed. The accuracy of the model was improved by coupling it with the electromagnetic motor model in order to take into account the variations in the motor electromagnetic characteristics due to the temperature rise.