Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Multi-criteria optimisation approach to increase the delivered power in radial distribution networks

This study proposes a new methodology to increase the power delivered to any load point in a radial distribution network, through the identification of new investments in order to improve the repair time. This research work is innovative and consists in proposing a full optimisation model based on mixed-integer non-linear programming considering the Pareto front technique. The goal is to achieve a reduction in repair times of the distribution networks components, while minimising the costs of that reduction as well as non-supplied energy costs. The optimisation model considers the distribution network technical constraints, the substation transformer taps, and it is able to choose the capacitor banks size. A case study based on a 33-bus distribution network is presented in order to illustrate in detail the application of the proposed methodology.

Monitoring morphisms to support sustainable interoperability of enterprise systems

Dissertation to obtain the Master degree in Electrical Engineering and Computer Science

On the analysis of data emerging in non-linear and complex systemscomparison of two X-Ray prony spectra

New arguments proving that successive (repeated) measurements have a memory and actually remember each other are presented. The recognition of this peculiarity can change essentially the existing paradigm associated with conventional observation in behavior of different complex systems and lead towards the application of an intermediate model (IM). This IM can provide a very accurate fit of the measured data in terms of the Prony's decomposition. This decomposition, in turn, contains a small set of the fitting parameters relatively to the number of initial data points and allows comparing the measured data in cases where the “best fit” model based on some specific physical principles is absent. As an example, we consider two X-ray diffractometers (defined in paper as A- (“cheap”) and B- (“expensive”) that are used after their proper calibration for the measuring of the same substance (corundum a-Al2O3). The amplitude-frequency response (AFR) obtained in the frame of the Prony's decomposition can be used for comparison of the spectra recorded from (A) and (B) - X-ray diffractometers (XRDs) for calibration and other practical purposes. We prove also that the Fourier decomposition can be adapted to “ideal” experiment without memory while the Prony's decomposition corresponds to real measurement and can be fitted in the frame of the IM in this case. New statistical parameters describing the properties of experimental equipment (irrespective to their internal “filling”) are found. The suggested approach is rather general and can be used for calibration and comparison of different complex dynamical systems in practical purposes.

Estimação em pequenos domínios

Neste artigo pretende-se apresentar algumas questões relacionadas com a estimação em domínios no âmbito de sondagens. São abordadas as etapas de planeamento e desenho da sondagem, sublinhando que o problema deve de ser visto numa perspectiva global. O ênfase é no entanto colocado na etapa de estimação, através de uma identificação abrangente de métodos de estimação, com referências às suas aplicações e qualidades relativas. É dada uma atenção especial ao problema de estimação em pequenos domínios, onde a dimensão das amostras é normalmente insuficiente para obter estimativas directas de apreciação aceitável.

A comunicação entre o diretor e os professores no agrupamento X

A comunicação é essencial nas relações interpessoais, quer ao nível das organizações em geral, quer na organização escolar em particular. As funções de administração, como planeamento, organização, liderança e controle, são levadas a cabo com sucesso, dentro de uma organização quando apoiadas num processo de comunicação eficaz. O objectivo deste estudo foi procurar soluções para a ineficácia relativa do processo de comunicação entre o Diretor e os professores no Agrupamento X. Metodologicamente desenvolveu-se um estudo de caso, de natureza qualitativa, onde se recorreu a instrumentos de recolha de dados como entrevistas e ‘focus group’. Desta forma identificou-se e descreveu-se o processo de comunicação adotado no Agrupamento X entre o Diretor e os professores, bem como se recolheram as opiniões dos docentes e do Diretor sobre a comunicação e a gestão da informação no Agrupamento. Este estudo permitiu reconhecer que a fraca internalização de alguns conceitos e mecanismos do processo comunicacional por parte dos atores contribui para ineficácia relativa deste processo. Na criação do plano de ação retomámos e valorizamos a ideia de que um modelo de comunicação assente nas principais funções da comunicação poderá ser a chave para o maior envolvimento dos docentes na consecução dos objetivos do Projeto Educativo do Agrupamento, ou seja, é dada a resposta à pergunta partida deste projeto – como melhorar o processo de comunicação entre o Diretor e os professores no Agrupamento X?

Information Systems Outsourcing Adoption

Dissertação apresentada como requisito parcial para obtenção do grau de Mestre em Estatística e Gestão de Informação

Derivation and consistency checking of models in early software product line engineering

Dissertação para obtenção do Grau de Doutor em Engenharia Informática

The effects of rent control in Lisbon

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Economics from the NOVA – School of Business and Economics

Towards cryogenic liquid –vapor energy storage units for space applications

Dissertation to obtain the Doctoral degree in Physics Engineering

Structural investigation of the Bacillus subtilis morphogenic factor RodZ

A thesis to obtain a Master degree in Structural and Functional Biochemistry

Machine learning Gaussian short rate

Dissertação para obtenção do Grau de Doutor em Estatística e Gestão do Risco

Predictive analytical and numerical modeling for orthogonal cutting

In this thesis, a predictive analytical and numerical modeling approach for the orthogonal cutting process is proposed to calculate temperature distributions and subsequently, forces and stress distributions. The models proposed include a constitutive model for the material being cut based on the work of Weber, a model for the shear plane based on Merchants model, a model describing the contribution of friction based on Zorev’s approach, a model for the effect of wear on the tool based on the work of Waldorf, and a thermal model based on the works of Komanduri and Hou, with a fraction heat partition for a non-uniform distribution of the heat in the interfaces, but extended to encompass a set of contributions to the global temperature rise of chip, tool and work piece. The models proposed in this work, try to avoid from experimental based values or expressions, and simplifying assumptions or suppositions, as much as possible. On a thermo-physical point of view, the results were affected not only by the mechanical or cutting parameters chosen, but also by their coupling effects, instead of the simplifying way of modeling which is to contemplate only the direct effect of the variation of a parameter. The implementation of these models was performed using the MATLAB environment. Since it was possible to find in the literature all the parameters for AISI 1045 and AISI O2, these materials were used to run the simulations in order to avoid arbitrary assumption.

A solution for estimates in software development projects

The Corporate world is becoming more and more competitive. This leads organisations to adapt to this reality, by adopting more efficient processes, which result in a decrease in cost as well as an increase of product quality. One of these processes consists in making proposals to clients, which necessarily include a cost estimation of the project. This estimation is the main focus of this project. In particular, one of the goals is to evaluate which estimation models fit the Altran Portugal software factory the most, the organization where the fieldwork of this thesis will be carried out. There is no broad agreement about which is the type of estimation model more suitable to be used in software projects. Concerning contexts where there is plenty of objective information available to be used as input to an estimation model, model-based methods usually yield better results than the expert judgment. However, what happens more frequently is not having this volume and quality of information, which has a negative impact in the model-based methods performance, favouring the usage of expert judgement. In practice, most organisations use expert judgment, making themselves dependent on the expert. A common problem found is that the performance of the expert’s estimation depends on his previous experience with identical projects. This means that when new types of projects arrive, the estimation will have an unpredictable accuracy. Moreover, different experts will make different estimates, based on their individual experience. As a result, the company will not directly attain a continuous growing knowledge about how the estimate should be carried. Estimation models depend on the input information collected from previous projects, the size of the project database and the resources available. Altran currently does not store the input information from previous projects in a systematic way. It has a small project database and a team of experts. Our work is targeted to companies that operate in similar contexts. We start by gathering information from the organisation in order to identify which estimation approaches can be applied considering the organization’s context. A gap analysis is used to understand what type of information the company would have to collect so that other approaches would become available. Based on our assessment, in our opinion, expert judgment is the most adequate approach for Altran Portugal, in the current context. We analysed past development and evolution projects from Altran Portugal and assessed their estimates. This resulted in the identification of common estimation deviations, errors, and patterns, which lead to the proposal of metrics to help estimators produce estimates leveraging past projects quantitative and qualitative information in a convenient way. This dissertation aims to contribute to more realistic estimates, by identifying shortcomings in the current estimation process and supporting the self-improvement of the process, by gathering as much relevant information as possible from each finished project.