Predicting the metabolic energy costs of bipedalism using evolutionary robotics

To understand the evolution of bipedalism among the homnoids in an ecological context we need to be able to estimate theenerrgetic cost of locomotion in fossil forms. Ideally such an estimate would be based entirely on morphology since, except for the rare instances where footprints are preserved, this is hte only primary source of evidence available. In this paper we use evolutionary robotics techniques (genetic algoritms, pattern generators and mechanical modeling) to produce a biomimentic simulation of bipedalism based on human body dimensions. The mechnaical simulation is a seven-segment, two-dimensional model with motive force provided by tension generators representing the major muscle groups acting around the lower-limb joints. Metabolic energy costs are calculated from the muscel model, and bipedal gait is generated using a finite-state pattern generator whose parameters are produced using a genetic algorithm with locomotor economy (maximum distance for a fixed energy cost) as the fitness criterion. The model is validated by comparing the values it generates with those for modern humans. The result (maximum efficiency of 200 J m-1) is within 15% of the experimentally derived value, which is very encouraging and suggests that this is a useful analytic technique for investigating the locomotor behaviour of fossil forms. Initial work suggests that in the future this technique could be used to estimate other locomotor parameters such as top speed. In addition, the animations produced by this technique are qualitatively very convincing, which suggests that this may also be a useful technique for visualizing bipedal locomotion.

Carrier Selection for Multi-commodity Flow Optimization in Cooperative Environments

Part 18: Optimization in Collaborative Networks

An investigation of imputation methods for discrete databases and multi-variate time series

When it comes to information sets in real life, often pieces of the whole set may not be available. This problem can find its origin in various reasons, describing therefore different patterns. In the literature, this problem is known as Missing Data. This issue can be fixed in various ways, from not taking into consideration incomplete observations, to guessing what those values originally were, or just ignoring the fact that some values are missing. The methods used to estimate missing data are called Imputation Methods. The work presented in this thesis has two main goals. The first one is to determine whether any kind of interactions exists between Missing Data, Imputation Methods and Supervised Classification algorithms, when they are applied together. For this first problem we consider a scenario in which the databases used are discrete, understanding discrete as that it is assumed that there is no relation between observations. These datasets underwent processes involving different combina- tions of the three components mentioned. The outcome showed that the missing data pattern strongly influences the outcome produced by a classifier. Also, in some of the cases, the complex imputation techniques investigated in the thesis were able to obtain better results than simple ones. The second goal of this work is to propose a new imputation strategy, but this time we constrain the specifications of the previous problem to a special kind of datasets, the multivariate Time Series. We designed new imputation techniques for this particular domain, and combined them with some of the contrasted strategies tested in the pre- vious chapter of this thesis. The time series also were subjected to processes involving missing data and imputation to finally propose an overall better imputation method. In the final chapter of this work, a real-world example is presented, describing a wa- ter quality prediction problem. The databases that characterized this problem had their own original latent values, which provides a real-world benchmark to test the algorithms developed in this thesis.

Feasibility study and flow scheduling optimization of a multi-product pipeline system

The first goal of this study is to analyse a real-world multiproduct onshore pipeline system in order to verify its hydraulic configuration and operational feasibility by constructing a simulation model step by step from its elementary building blocks that permits to copy the operation of the real system as precisely as possible. The second goal is to develop this simulation model into a user-friendly tool that one could use to find an “optimal” or “best” product batch schedule for a one year time period. Such a batch schedule could change dynamically as perturbations occur during operation that influence the behaviour of the entire system. The result of the simulation, the ‘best’ batch schedule is the one that minimizes the operational costs in the system. The costs involved in the simulation are inventory costs, interface costs, pumping costs, and penalty costs assigned to any unforeseen situations. The key factor to determine the performance of the simulation model is the way time is represented. In our model an event based discrete time representation is selected as most appropriate for our purposes. This means that the time horizon is divided into intervals of unequal lengths based on events that change the state of the system. These events are the arrival/departure of the tanker ships, the openings and closures of loading/unloading valves of storage tanks at both terminals, and the arrivals/departures of trains/trucks at the Delivery Terminal. In the feasibility study we analyse the system’s operational performance with different Head Terminal storage capacity configurations. For these alternative configurations we evaluated the effect of different tanker ship delay magnitudes on the number of critical events and product interfaces generated, on the duration of pipeline stoppages, the satisfaction of the product demand and on the operative costs. Based on the results and the bottlenecks identified, we propose modifications in the original setup.

Switching Patterns and Steady-State Analysis of Grid-Connected and Stand-Alone Single-Stage Boost-Inverters for PV Applications

Renewable or sustainable energy (SE) sources have attracted the attention of many countries because the power generated is environmentally friendly, and the sources are not subject to the instability of price and availability. This dissertation presents new trends in the DC-AC converters (inverters) used in renewable energy sources, particularly for photovoltaic (PV) energy systems. A review of the existing technologies is performed for both single-phase and three-phase systems, and the pros and cons of the best candidates are investigated. In many modern energy conversion systems, a DC voltage, which is provided from a SE source or energy storage device, must be boosted and converted to an AC voltage with a fixed amplitude and frequency. A novel switching pattern based on the concept of the conventional space-vector pulse-width-modulated (SVPWM) technique is developed for single-stage, boost-inverters using the topology of current source inverters (CSI). The six main switching states, and two zeros, with three switches conducting at any given instant in conventional SVPWM techniques are modified herein into three charging states and six discharging states with only two switches conducting at any given instant. The charging states are necessary in order to boost the DC input voltage. It is demonstrated that the CSI topology in conjunction with the developed switching pattern is capable of providing the required residential AC voltage from a low DC voltage of one PV panel at its rated power for both linear and nonlinear loads. In a micro-grid, the active and reactive power control and consequently voltage regulation is one of the main requirements. Therefore, the capability of the single-stage boost-inverter in controlling the active power and providing the reactive power is investigated. It is demonstrated that the injected active and reactive power can be independently controlled through two modulation indices introduced in the proposed switching algorithm. The system is capable of injecting a desirable level of reactive power, while the maximum power point tracking (MPPT) dictates the desirable active power. The developed switching pattern is experimentally verified through a laboratory scaled three-phase 200W boost-inverter for both grid-connected and stand-alone cases and the results are presented.

Multi-kilowatt peak power nanosecond Er-doped fiber laser

We report a two-stage diode-pumped Er-doped fiber amplifier operating at the wavelength of 1550 nm at the repetition rate of 10-100 kHz with an average output power of up to 10 W. The first stage comprising Er-doped fiber was core-pumped at the wavelength of 1480 nm, whereas the second stage comprising double-clad Er/Yb-doped fiber was clad-pumped at the wavelength of 975 nm. The estimated peak power for the 0.4-nm full-width at half-maximum laser emission at the wavelength of 1550 nm exceeded 4-kW level. The initial 100-ns seed diode laser pulse was compressed to 3.5 ns as a result of the 34-dB total amplification. The observed 30-fold efficient pulse compression reveals a promising new nonlinear optical technique for the generation of high power short pulses for applications in eye-safe ranging and micromachining.

Roteiro Tecnológico (roadmap) da Captação, Utilização e Armazenamento de Dióxido de Carbono (CCUS) em Portugal

O objetivo primordial deste trabalho foi estabelecer um roteiro tecnológico para aplicação das tecnologias de “Captação, Utilização e Sequestração de Carbono - CCUS” em Portugal. Para o efeito procedeu-se à identificação da origem das maiores fontes emissoras estacionárias industriais de CO2, adotando como critério o valor mínimo de 1×105 ton CO2/ano e limitado apenas ao território continental. Com base na informação recolhida e referente aos dados oficiais mais recentes (ano de 2013), estimou-se que o volume de emissões industriais de CO2 possível de captar em Portugal, corresponde a cerca de 47 % do valor global das emissões industriais, sendo oriundo de três setores de atividade industrial: produção de cimento, de pasta de papel e centrais termoelétricas a carvão. A maioria das grandes fontes emissoras industriais localiza-se no litoral do país, concentrando-se entre Aveiro e Sines. Pelas condicionantes geográficas do país e, sobretudo pela vantagem de já existir uma rede de gasodutos para o transporte de gás natural, com as respetivas infraestruturas de apoio associadas, admitiu-se que o cenário mais favorável para o transporte do CO2 captado será a criação de um sistema de transporte por gasoduto específico para o CO2. Como critério de compatibilização da proximidade das fontes emissoras de CO2 com potenciais locais para o armazenamento geológico das correntes captadas, adotou-se a distância máxima de 100 km, considerada adequada perante a dimensão do território nacional e as características do tecido industrial nacional. Efetuou-se a revisão das tecnologias de captação de CO2 disponíveis, quer comercialmente, quer em níveis avançados de demonstração e procedeu-se à análise exploratória da adequação desses diferentes métodos de captação a cada um dos setores de atividade industrial previamente identificados com emissões de CO2 suscetíveis de serem captadas. Na perspetiva da melhor integração dos processos, esta análise preliminar tomou em consideração as características das misturas gasosas, assim como o contexto industrial correspondente e o processo produtivo que lhe dá origem. As possibilidades de utilização industrial do CO2 sujeito à captação no país foram tratadas neste trabalho de forma genérica dado que a identificação de oportunidades reais para a utilização de correntes de CO2 captadas exige uma análise de compatibilização das necessidades efetivas de utilização de CO2 por parte de potenciais utilizadores industriais que carece da caracterização prévia das propriedades dessas correntes. Este é um tipo de análise muito específico que pressupõe o interesse mútuo de diferentes intervenientes: agentes emissores de CO2, operadores de transporte e, principalmente, potenciais utilizadores de CO2 como: matéria-prima para a síntese de compostos, solvente de extração supercrítica na indústria alimentar ou farmacêutica, agente corretor de pH em tratamento de efluentes, biofixação por fotossíntese, ou outra das aplicações possíveis identificadas para o CO2 captado. A última etapa deste estudo consistiu na avaliação das possibilidades de armazenamento geológico do CO2 captado e envolveu a identificação, nas bacias sedimentares nacionais, de formações geológicas com características reconhecidas como sendo boas indicações para o armazenamento de CO2 de forma permanente e em segurança. Seguiu-se a metodologia preconizada por organizações internacionais aplicando à situação nacional, critérios de seleção e de segurança que se encontram reconhecidamente definidos. A adequação para o armazenamento de CO2 das formações geológicas pré-selecionadas terá que ser comprovada por estudos adicionais que complementem os dados já existentes sobre as características geológicas destas formações e, mais importante ainda, por testes laboratoriais e ensaios de injeção de CO2 que possam fornecer informação concreta para estimar a capacidade de sequestração e de retenção de CO2 nestas formações e estabelecer os modelos geológicos armazenamento que permitam identificar e estimar, de forma concreta e objetiva, os riscos associados à injeção e armazenamento de CO2.

Early stage assessment of the inspectability of welded components : A case from the aerospace industry

This paper proposes a method to indicate potential problems when planning dye penetrant and x-ray inspection of welded components. Inspection has been found to be an important part of the manufacturability evaluation made in a large CAD-based parametric environment for making multidisciplinary design simulations in early stages of design at an aircraft component manufacturer. The paper explains how the proposed method is to be included in the design platform at the company. It predicts the expected probability of detection of cracks (POD) in situations where the geometry of the parts is unfavourable for inspection so that potential problems can be discovered and solved in early stages. It is based on automatically extracting information from CAD-models and making a rule-based evaluation. It also provides a scale for how favourable the geometry is for inspection. In the paper it is also shown that the manufacturability evaluation need to take into consideration the expected stresses in the structures, highlighting the importance of multi-disciplinary simulations.

Evaluating Methods of Calculating the Fixed Fee on Professional Service Contracts

The South Carolina Department of Transportation routinely retains Professional Consulting Engineering firms to provide engineering design and related professional services for the preparation of construction plans or design-build Request for Proposal bid packages for a wide variety of Federal-aid Highway Program roadway and bridge construction projects throughout South Carolina.The purpose of this project is to examine the current process of determining a "Fair and Reasonable" fixed fee for professional service contracts and to evaluate possible alternative methods including practices in other states that may improve the process, particularly in light of the considerable variation in audited overhead rates among consulting firms. In reviewing such alternative methods particular attention will be given to evaluating the potential impact of the method as an incentive to consulting firms to effectively manage their overhead costs.

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.

In Situ Observation of the Thermal Decomposition of Weddelite by Heating Stage Environmental Scanning Electron Microscopy

The morphological and chemical changes occurring during the thermal decomposition of weddelite, CaC2O4·2H2O, have been followed in real time in a heating stage attached to an Environmental Scanning Electron Microscope operating at a pressure of 2 Torr, with a heating rate of 10 °C/min and an equilibration time of approximately 10 min. The dehydration step around 120 °C and the loss of CO around 425 °C do not involve changes in morphology, but changes in the composition were observed. The final reaction of CaCO3 to CaO while evolving CO2 around 600 °C involved the formation of chains of very small oxide particles pseudomorphic to the original oxalate crystals. The change in chemical composition could only be observed after cooling the sample to 350 °C because of the effects of thermal radiation.

Exposure to pesticides, ill health and averting behaviour : costs and determining the relationship

Farmers' exposure to pesticides is high in developing countries. As a result many farmers suffer from ill-health, both short and long term. Deaths are not uncommon. This paper addresses this issue. Field survey data from Sri Lanka are used to estimate farmers' expenditure on defensive behavior (DE) and to determine factors that influence DE. The avertive behavior approach is used to estimate costs. Tobit regression analysis is used to determine factors that influence DE. Field survey data show that farmers' expenditures on DE are low. This is inversely related to high incidence of ill health among farmers using pesticides.

Correcting for bias when estimating the cost of hospital-acquired infection : an analysis of lower respiratory tract infections in non-surgical patients

Hospital acquired infections (HAI) are costly but many are avoidable. Evaluating prevention programmes requires data on their costs and benefits. Estimating the actual costs of HAI (a measure of the cost savings due to prevention) is difficult as HAI changes cost by extending patient length of stay, yet, length of stay is a major risk factor for HAI. This endogeneity bias can confound attempts to measure accurately the cost of HAI. We propose a two-stage instrumental variables estimation strategy that explicitly controls for the endogeneity between risk of HAI and length of stay. We find that a 10% reduction in ex ante risk of HAI results in an expected savings of £693 ($US 984).