Design of the ISePorto robocup Middle-Size League Robotic Soccer Team: Control, Localisation and Coordination

Proceedings of the 10th Mediterranean Conference on Control and Automation - MED2002 Lisbon, Portugal, July 9-12, 2002

Control and Localisation for the ISePorto Robotic Soccer Team

International Conference on Advanced Robotics, Coimbra, Portugal, Julho 2003

Implicações do conforto térmico no consumo energético – uma hipótese de modelo adaptativo aplicada ao Verão

Dissertação para obtenção do Grau de Mestre em Engenharia Civil – Perfil de Construção

Desempenho energético de edifícios residenciais no contexto da regulamentação térmica com recurso ao Energy Plus e TRNSYS

Dissertação para obtenção do Grau de Mestre em Engenharia Civil

Fractional Calculus: Application in modeling and control

This contribution introduces the fractional calculus (FC) fundamental mathematical aspects and discuses some of their consequences. Based on the FC concepts, the chapter reviews the main approaches for implementing fractional operators and discusses the adoption of FC in control systems. Finally are presented some applications in the areas of modeling and control, namely fractional PID, heat diffusion systems, electromagnetism, fractional electrical impedances, evolutionary algorithms, robotics, and nonlinear system control.

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.

Control and Dynamics of Fractional Order Systems

Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades due to the progress in the area of nonlinear dynamics. This article discusses several applications of fractional calculus in science and engineering, namely: the control of heat systems, the tuning of PID controllers based on fractional calculus concepts and the dynamics in hexapod locomotion.

Prevalência de obesidade infanto-juvenil : associação com os hábitos alimentares, actividade física e comportamentos sedentários dos adolescentes escolarizados de Portugal Conti

RESUMO Nos países industrializados observam-se elevadas prevalências de pré- obesidade e obesidade em jovens e adolescentes, com consequências negativas para a saúde. A obesidade é apontada como o distúrbio nutricional mais frequente em crianças e adolescentes nos países desenvolvidos e é resultado da acumulação excessiva ou anormal de gordura no tecido adiposo. Segundo a I.O.T.F. considera- se que uma criança tem pré-obesidade quando o seu percentil de I.M.C. está entre o p88 e p99 para as raparigas e entre o p90 e o p99 para os rapazes. Considerase que tem obesidade quando o percentil de I.M.C. é superior ao p99, para ambos os sexos. A prevalência de pré-obesidade e obesidade em crianças e adolescentes tem vindo a aumentar a nível mundial a um ritmo alarmante, sobretudo nos países desenvolvidos e em alguns segmentos de países em desenvolvimento. Estudos demonstram que a obesidade em crianças e adolescentes se encontra fortemente correlacionada com o aumento da morbilidade e mortalidade, reflectindo-se numa variedade de situações patológicas com risco de persistência no adulto. Dada a sua extrema importância em termos de Saúde Pública, as tendências para a pré- obesidade e obesidade em crianças e adolescentes devem ser monitorizadas com especial atenção. Os hábitos alimentares e o gasto energético são factores que influenciam a obesidade e o seu controlo. Há estudos que concluem que existe uma associação directa entre estes factos e a presença de obesidade e outros apresentam conclusões contrárias. Pretendeu-se determinar a prevalência de excesso de peso (pré-obesidade e obesidade) infantojuvenil em Portugal e associá-la com os hábitos alimentares, actividade física e comportamentos sedentários dos adolescentes. A população em estudo é todos os adolescentes, de ambos os sexos, que frequentam o ensino básico (2º e 3º ciclos) e secundário oficial de Portugal Continental (n=5708). Todos os elementos em estudos foram avaliados antropometricamente (peso e altura) e responderam a um questionário de hábitos alimentares e frequência alimentar, actividade física e comportamentos sedentários. Como resultados do estudo verificou-se que a prevalência de pré- obesidade infanto-juvenil em Portugal é de 22,6% e a prevalência de obesidade de 7,8%. Quer a obesidade quer a pré-obesidade apresentam indicadores superiores nos rapazes (p=0,01) e nos adolescentes mais jovens (p=0,00). Em relação aos hábitos alimentares estudados é de referir que a frequência de consumo de refeições fora de casa é muito similar entre o grupo normoponderal e o grupo com excesso de peso sendo a refeição da ceia consumida por um número muito superior de adolescentes normoponderais comparativamente com os que apresentam excesso de peso (p=0,01). Em relação à ingestão de determinados alimentos ou grupos alimentícios, verificou-se que, regra geral, o consumo de alimentos de características nutricionais de baixa qualidade (gordura saturada, sal e açucares simples) era superior no grupo normoponderal comparativamente ao grupo com excesso de peso (refrigerantes, snacks, fast-food, cereais açucarados, sobremesas doces) (p<0,05). Em relação à actividade física, o número de horas semanais de actividade física diminui do grupo normoponderal para o grupo com excesso de peso. Dentro do grupo com excesso de peso, os obesos apresentam ainda uma média inferior em relação aos pré-obesos. Poderemos afirmar que quanto maior o índice de actividade física menor o percentil de I.M.C., mostrando-se assim a actividade física como um factor protector de um peso saudável (p<0,05). Quando solicitado que caracterizassem o estilo de vida e a habilidade desportiva, verificou-se que nos grupos com excesso de peso se caracterizavam em indicadores mais baixos do que os normoponderais (p<0,05). No que diz respeito aos comportamentos sedentários, verifica-se que são mais prevalentes nos grupos com excesso de peso do que no grupo normoponderal (p<0,05). Em conclusão, os resultados da prevalência de obesidade obtidos assemelham-se aos resultados obtidos noutros estudos, constituindo um dado revelador de uma situação bastante preocupante em termos de Saúde Pública. Em relação aos hábitos alimentares as diferenças não são significativas entre os diferentes grupos (normoponderal, pré-obesidade e obesidade). A actividade física apresentou-se como um factor protector do aumento de peso com uma associação directa com o estado nutricional (I.M.C.). Verificou-se que os adolescentes em Portugal que apresentavam indicadores mais elevados de actividade física eram aqueles que se encontravam com peso normal. Os comportamentos sedentários apresentaram-se como um factor propício ao desenvolvimento do excesso de peso estando directamente relacionados com o percentil de I.M.C. Os comportamentos sedentários mais frequentes são o visionamento televisivo e o computador/internet. Assim, poder-se-á fundamentar a necessidade de medidas interventivas a este nível com o intuito de controlar os indicadores encontrados. ABSTRACT In the industrialized countries high prevalences of pre-obesity and obesity are observed in youngsters and adolescents, with negative health consequences. Obesity is pointed as the most frequent nutritional disturbance in children and adolescents in developed countries and results from the excessive or abnormal accumulation of fat in the adipose tissue. According to the IOTF a child is pre-obese when the BMI percentile is between p88 and p99 for girls and between p90 and p99 for boys. Obesity is considered when the BMI percentile is above p99 for both sexes. The prevalence of pre-obesity and obesity in children and adolescents has been rising alarmingly worldwide, especially in developed countries and some segments of developing countries. Studies indicate that obesity in children and adolescents is strongly associated with increased morbidity and mortality resulting in a variety of pathological situations with risk of persistence in adulthood. Given its major Public Health importance, pre-obesity and obesity trends in children and adolescents should be monitored with special attention. Eating habits and energy expenditure are factors that influence obesity and its control. Some studies conclude that there is a direct association between these factors and the presence of obesity and others present opposite conclusions. It was intended to determine the prevalence of overweight (pre-obesity and obesity) in children and youth in Portugal and to associate it with eating habits, physical activity and sedentary behaviors of adolescents. The population in study is constituted by all adolescents of both sexes that attend basic (2nd and 3rd grade) and secondary official education of continental Portugal (n=5708). All participants in study were anthropometrically evaluated (weight and height) and answered a questionnaire of eating habits and food frequency, physical activity and sedentary behaviors. The study results indicate a prevalence of pre-obesity in children and youth in Portugal of 22.6% and a prevalence of obesity of 7.8%. Both obesity and pre-obesity present higher indicators in boys (p=0.01) and younger adolescents (p=0.00). In relation to the studied eating habits it should be noted that the frequency of consumption of meals away from home is very similar between the normal weight group and the overweight group. Moreover, the supper meal is consumed by a much larger number of normal weight adolescents as compared to the ones with overweight (p=0.01). Regarding the intake of certain foods or food groups, it was found that, in general, the consumption of foods with characteristics of low nutritional quality (saturated fat, salt and simple sugars) was higher in the normoponderal group compared with the overweight group (soft drinks, snacks, fast-food, sugary cereals, desserts) (p<0.05). In respect to physical activity, the number of weekly hours of physical activity decreases from the normoponderal group to the group with overweight. Within the group with overweight, obese subjects also present a lower average than pre-obese subjects. As we can affirm that the higher the physical activity index the lower the BMI percentile, physical activity appears as a protective factor for a healthy weight (p<0.05). When they were asked to characterize their lifestyle and sports ability, it was found that overweight groups characterized themselves with lower indicators than the normoponderal group (p<0.05). Regarding sedentary behaviors, it appears that they were more prevalent in groups with overweight than in the normoponderal group (p<0.05). In conclusion, the results of the obesity prevalence attained are similar to the results obtained in other studies, revealing a very worrying situation in terms of Public Health. In relation to the eating habits there were no significant differences between the groups (normoponderal, pre-obesity and obesity). Physical activity appears as a protective factor from weight gain with a direct association with nutritional status (BMI). It was found that young people in Portugal who had the highest indicators of physical activity were those who presented normal weight. The sedentary behaviors were presented as a factor conducive to the development of overweight being directly related to the BMI percentile. The most frequent sedentary behaviors were television viewing and computer/internet

Fractional Dynamics and Control of Distributed Parameter Systems

Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades, due to the progress in the area of chaos that revealed subtle relationships with the FC concepts. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of establishment. Having these ideas in mind, the paper discusses a FC perspective in the study of the dynamics and control of some distributed parameter systems.

Improved Numerical Simulation for a Novel Adaptive Control Using Fractional Order Derivatives

A novel control technique is investigated in the adaptive control of a typical paradigm, an approximately and partially modeled cart plus double pendulum system. In contrast to the traditional approaches that try to build up ”complete” and ”permanent” system models it develops ”temporal” and ”partial” ones that are valid only in the actual dynamic environment of the system, that is only within some ”spatio-temporal vicinity” of the actual observations. This technique was investigated for various physical systems via ”preliminary” simulations integrating by the simplest 1st order finite element approach for the time domain. In 2004 INRIA issued its SCILAB 3.0 and its improved numerical simulation tool ”Scicos” making it possible to generate ”professional”, ”convenient”, and accurate simulations. The basic principles of the adaptive control, the typical tools available in Scicos, and others developed by the authors, as well as the improved simulation results and conclusions are presented in the contribution.

Modelling and Control of Freeway Traffic

This paper presents the most recent developments of the Simulator of Intelligent Transportation Systems (SITS). The SITS is based on a microscopic simulation approach to reproduce real traffic conditions in an urban or non-urban network. In order to analyse the quality of the microscopic traffic simulator SITS a benchmark test was performed. A dynamical analysis of several traffic phenomena, applying a new modelling formalism based on the embedding of statistics and Laplace transform, is then addressed. The paper presents also a new traffic control concept applied to a freeway traffic system.

Cascade Control of a Hexapod Robot

6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 September

System Modeling and Control Through Fractional-Order Algorithms

The theory of fractional calculus goes back to the beginning of thr throry of differential calculus but its inherent complexity postponed the applications of the associated concepts. In the last decade the progress in the areas of chaos and fractals revealed subtle relationships with the fractional calculus leading to an increasing interest in the development of the new paradigm. In the area of automaticcontrol preliminary work has already been carried out but the proposed algorithms are restricted to the frequency domain. The paper discusses the design of fractional-order discrete-time controllers. The algorithms studied adopt the time domein, which makes them suited for z-transform analusis and discrete-time implementation. The performance of discrete-time fractional-order controllers with linear and non-linear systems is also investigated.

Chaotic Phenomena and Performance Optimization in the Trajectory Control of Redundant Manipulators

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of abstacles, and the resolution of singularities. For this type of manipulators, several kinetic algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by theseproblems this paper presents a new method that ptimizes the manipulability through a least squre polynomialapproximation to determine the joints positions. Moreover, the article studies influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiment confirm the superior performance of the proposed algorithm for redundant and hyper-redundant manipulators, revealing several fundamental properties of the chaotic phenomena, and gives a deeper insight towards the future development of superior trajectory control algorithms.

Avaliação do impacte dos solários no desempenho energético de edifícios residenciais

Dissertação para obtenção do Grau de Mestre em Engenharia Civil