Coordinated transportation of a large object by a team of two robots

In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.

Utilização de algoritmos de processamento e análise de imagem na avaliação do dano em placas compósitas

PTDC/EME–TME/66207/2006 e POSC/EEA-SRI/55386/2004

Comparison between monopolar and bipolar microsecond range pulsed electric fields in enhancement of apple juice extraction

The effect of monopolar and bipolar shaped pulses in additional yield of apple juice extraction is evaluated. The applied electric field strength, pulsewidth, and number of pulses are assessed for both pulse types, and divergences are analyzed. Variation of electric field strength is ranged from 100 to 1300 V/cm, pulsewidth from 20 to 300 mu s, and the number of pulses from 10 to 200, at a frequency of 200 Hz. Two pulse trains separated by 1 s are applied to apple cubes. Results are plotted against reference untreated samples for all assays. Specific energy consumption is calculated for each experiment as well as qualitative indicators for apple juice of total soluble dry matter and absorbance at 390-nm wavelength. Bipolar pulses demonstrated higher efficiency, and specific energetic consumption has a threshold where higher inputs of energy do not result in higher juice extraction when electric field variation is applied. Total soluble dry matter and absorbance results do not illustrate significant differences between application of monopolar and bipolar pulses, but all values are inside the limits proposed for apple juice intended for human consumption.

Pulsed electric field pre-treatment for apple juice extraction: Evaluation of monopolar and bipolar pulses effects

Additional apple juice extraction with pulsed electric field pretreated apple cubes towards control samples is evaluated. Monopolar and bipolar shaped pulses are compared and their effect is studied with variation of electric field, pulse width and number of pulses. Variation of electric field strength is ranged from 100 V/cm to 1300 V/cm, pulse width from 20 mu s to 300 mu s and number of pulses from 10 to 200, at frequency of 200Hz. Two pulse trains separated by 1 second are applied to all samples. Bipolar pulses showed higher apple juice yields with all studied parameters. Calculation of specific energies consumed was assessed and a threshold where higher energy inputs do not increase juice yield is found for a number of used parameters. Qualitative parameters of total soluble matter (Brix) and absorbance at 390 nm wavelength were determined for each sample and results show that no substantial differences are found for PEF pre-treated and control samples.

Análise de fadiga de uma ponte ferroviária com tabuleiro misto vigado sob ação de tráfego de mercadorias

A presente dissertação centra-se no estudo de fadiga de uma ponte ferroviária com tabuleiro misto vigado pertencente a uma via de transporte de mercadorias. O caso de estudo incide sobre a ponte ferroviária sobre o rio do Sonho, localizada na Estrada de Ferro de Carajás situada no nordeste do Brasil. Nesta linha circulam alguns dos maiores comboios de mercadoria do mundo com cerca de 3.7 km de extensão e com cargas por eixo superiores a 300 kN. Numa primeira fase apresentam-se diversas metodologias de análise da fadiga em pontes ferroviárias metálicas. É também descrita a ferramenta computacional FADBridge, desenvolvida em ambiente MATLAB, e que possibilita o cálculo sistematizado e eficiente do dano de fadiga em detalhes construtivos de acordo com as indicações dos eurocódigos. Em seguida são abordadas as metodologias numéricas utilizadas para a realização das análises dinâmicas do sistema ponte-comboio e os aspetos regulamentares a ter em consideração no dimensionamento de pontes ferroviárias. O modelo numérico de elementos finitos da ponte foi realizado com recurso ao programa ANSYS. Com base neste modelo foram obtidos os parâmetros modais, nomeadamente as frequências naturais e os modos de vibração, tendo sido também analisada a importância do efeito compósito via-tabuleiro e a influência do comportamento não linear do balastro. O estudo do comportamento dinâmico da ponte foi realizado por intermédio de uma metodologia de cargas móveis através da ferramenta computacional Train-Bridge Interaction (TBI). As análises dinâmicas foram efetuadas para a passagem dos comboios reais de mercadorias e de passageiros e para os comboios de fadiga regulamentares. Nestas análises foi estudada a influência dos modos de vibração globais e locais, das configurações de carga dos comboios e do aumento da velocidade de circulação, na resposta dinâmica da ponte. Por último, foi avaliado o comportamento à fadiga de diversos detalhes construtivos para os cenários de tráfego regulamentar e reais. Foi ainda analisada a influência do aumento da velocidade, da configuração de cargas dos comboios e da degradação da estrutura nos valores do dano por fadiga e da respetiva vida residual.

Spanish society's perceptions about socially responsible investing

The debate surrounding the financial needs of investors and the impact on society of investment is considered to be an important research topic due to the growth of socially responsible financial markets. The objective of this research is to study the perception of the Spanish public about socially responsible investing (SRI) criteria and real-life investment needs. To examine the Spanish perception of SRI, we conducted a field survey. The results show that SRI is in an early stage and Spanish investors need more exact information regarding social, environmental, and governance criteria in order to invest in socially responsible companies and products.

SENSITIVITY ANALYSIS OF TRACK VIBRATIONS DUE TO VERTICAL STIFFNESS VARIATION IN HIGH-SPEED RAILWAYS

High speed trains, when crossing regions with abrupt changes in vertical stiffness of the track and/or subsoil, may generate excessive ground and track vibrations. There is an urgent need for specific analyses of this problem so as to allow reliable esimates of vibration amplitude. Full understanding of these phenomena will lead to new construction solutions and mitigation of undesirable features. In this paper analytical transient solutions of dynamic response of one-dimensional systems with sudden change of foundation stiffness are derived. Results are expressed in terms of vertical displacement. Sensitivity analysis of the response amplitude is also performed. The analytical expressions presented herein, to the authors’ knowledge, have not been published yet. Although related to one-dimensional cases, they can give useful insight into the problem. Nevertheless, in order to obtain realistic response, vehicle- rail interaction cannot be omitted. Results and conclusions are confirmed using general purpose commercial software ANSYS. In conclusion, this work contributes to a better understanding of the additional vibration phenomenon due to vertical stiffness variation, permitting better control of the train velocity and optimization of the track design.

Innovation assessment of a Portuguese railway branch of a foreign multinational - a case study

Paper developed for the unit “Innovation Economics and Management” of the PhD programme in Technology Assessment at the Universidade Nova de Lisboa in 2009-10 under the supervision of Prof. Maria Luísa Ferreira

Feasibility of creosote treatment for glued-laminated pine-timber railway sleepers

This article studies the possibility of using market available glued-laminated timber (GLT) based on melamine-urea-formaldehyde (MUF) adhesives as an alternative to traditional solid timber sleepers. The study comprised an examination of the effect of creosote treatment on the short-term and durability after accelerated aging of the glue lines (delamination and shear strength) and the potential for full sapwood penetration by the creosote. Creosote treatment showed a negative effect on shear strength and delamination, more severe in the nonstructural than the structural GLT specimens tested. Full penetration of creosote into the sapwood was not achieved. GLT elements based on MUF adhesives can be considered an alternative to solid wood sleepers if specific grading of lamellas, proper treatment schedule, and highly controlled factory production are implemented.

Public works policy in Portugal: a case study in unsustainability

International Journal of Engineering and Industrial Management, nº 1, p. 195-208

Transverse Vibrations in Beams Supported by a Piece-Wise Homogeneous Visco- Elastic Foundation

Transversal vibrations induced by a load moving uniformly along an infinite beam resting on a piece-wise homogeneous visco-elastic foundation are studied. Special attention is paid to the additional vibrations, conventionally referred to as transition radiations, which arise as the point load traverses the place of foundation discontinuity. The governing equations of the problem are solved by the normalmode analysis. The solution is expressed in a form of infinite sum of orthogonal natural modes multiplied by the generalized coordinate of displacement. The natural frequencies are obtained numerically exploiting the concept of the global dynamic stiffness matrix. This ensures that the frequencies obtained are exact. The methodology has restrictions neither on velocity nor on damping. The approach looks simple, though, the numerical expression of the results is not straightforward. A general procedure for numerical implementation is presented and verified. To illustrate the utility of the methodology parametric optimization is presented and influence of the load mass is studied. The results obtained have direct application in analysis of railway track vibrations induced by high-speed trains when passing regions with significantly different foundation stiffness.

DEWI - Wirelessly into the Future

Euromicro Conference on Digital System Design (DSD2015), EPDSD - 3rd European Projects in Digital System Design, Funchal, Portugal.

Long-term behaviour of railway transitions under dynamic loading application to soft soil sites

Dissertação para obtenção do Grau de Doutor em Engenharia Civil

Análise de um processo decisório controverso: a co-incineração em Souselas

Trabalho avaliado na unidade “Métodos Interactivos de Participação e Decisão” do Programa Doutoral em Avaliação de Tecnologia na FCT-UNL sob orientação da Profª Lia Vasconcelose do Prof. Nuno Videira. [Relatório entregue em Dezembro de 2011]

Novos ângulos da história da agricultura no Brasil.

A agricultura fora dos ciclos no Brasil: uma introdução ao livro; Um início da agricultura: sítios arqueológicos no Brasil e as pinturas rupestres no Planalto Central; Tecnologia na Amazônia pré-histórica: a Terra Preta do Índio; Indígenas e plantas pré-cabralinas; Um grande brasilianista: Gabriel Soares de Sousa; Jardins botânicos e hortos (novas plantas, novos hábitos): o Horto d'El Rey de Olinda; Um grande empreendedor e um mau administrador: Maurício de Nassau; O mosaico dos alimentos e dos remédios caseiros: escravos, índios e brancos; Culturas do Brasil Império: diversidade na agricultura; O Livro do Lavrador do Brasil República; A influência da madrinha: eucaliptos no Brasil; A explosão da agricultura tropical; Pesquisa e ensino: as dores do crescimento; Melhorando a organização rural: extensão rural e as cooperativas; Soja: o ouro-verde brasileiro; Polo Juazeiro-Petrolina - frutas para o Brasil e para o mundo; Desenvolvimento só com devastação? - Amazônia e Cerrados; A "marvada' pinga - álcool, Proálcool e Canavialis; Precisão na agricultura: alta tecnologia para produzir e preservar o meio ambiente; Da lei do mínimo à sustentabilidade; O novo retrato do Brasil - da roça à cidade?