Sofrologia caycediana®: contributo para o tratamento da dor no doente oncológico

Mestrado em Fisioterapia

Multi-criteria optimization manipulator trajectory planning

In the last twenty years genetic algorithms (GAs) were applied in a plethora of fields such as: control, system identification, robotics, planning and scheduling, image processing, and pattern and speech recognition (Bäck et al., 1997). In robotics the problems of trajectory planning, collision avoidance and manipulator structure design considering a single criteria has been solved using several techniques (Alander, 2003). Most engineering applications require the optimization of several criteria simultaneously. Often the problems are complex, include discrete and continuous variables and there is no prior knowledge about the search space. These kind of problems are very more complex, since they consider multiple design criteria simultaneously within the optimization procedure. This is known as a multi-criteria (or multiobjective) optimization, that has been addressed successfully through GAs (Deb, 2001). The overall aim of multi-criteria evolutionary algorithms is to achieve a set of non-dominated optimal solutions known as Pareto front. At the end of the optimization procedure, instead of a single optimal (or near optimal) solution, the decision maker can select a solution from the Pareto front. Some of the key issues in multi-criteria GAs are: i) the number of objectives, ii) to obtain a Pareto front as wide as possible and iii) to achieve a Pareto front uniformly spread. Indeed, multi-objective techniques using GAs have been increasing in relevance as a research area. In 1989, Goldberg suggested the use of a GA to solve multi-objective problems and since then other researchers have been developing new methods, such as the multi-objective genetic algorithm (MOGA) (Fonseca & Fleming, 1995), the non-dominated sorted genetic algorithm (NSGA) (Deb, 2001), and the niched Pareto genetic algorithm (NPGA) (Horn et al., 1994), among several other variants (Coello, 1998). In this work the trajectory planning problem considers: i) robots with 2 and 3 degrees of freedom (dof ), ii) the inclusion of obstacles in the workspace and iii) up to five criteria that are used to qualify the evolving trajectory, namely the: joint traveling distance, joint velocity, end effector / Cartesian distance, end effector / Cartesian velocity and energy involved. These criteria are used to minimize the joint and end effector traveled distance, trajectory ripple and energy required by the manipulator to reach at destination point. Bearing this ideas in mind, the paper addresses the planning of robot trajectories, meaning the development of an algorithm to find a continuous motion that takes the manipulator from a given starting configuration up to a desired end position without colliding with any obstacle in the workspace. The chapter is organized as follows. Section 2 describes the trajectory planning and several approaches proposed in the literature. Section 3 formulates the problem, namely the representation adopted to solve the trajectory planning and the objectives considered in the optimization. Section 4 studies the algorithm convergence. Section 5 studies a 2R manipulator (i.e., a robot with two rotational joints/links) when the optimization trajectory considers two and five objectives. Sections 6 and 7 show the results for the 3R redundant manipulator with five goals and for other complementary experiments are described, respectively. Finally, section 8 draws the main conclusions.

A sensor classification strategy for robotic manipulators

In practice the robotic manipulators present some degree of unwanted vibrations. The advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots interacting with the environment often generate impacts that propagate through the mechanical structure and produce also vibrations. In order to analyze these phenomena a robot signal acquisition system was developed. The manipulator motion produces vibrations, either from the structural modes or from endeffector impacts. The instrumentation system acquires signals from several sensors that capture the joint positions, mass accelerations, forces and moments, and electrical currents in the motors. Afterwards, an analysis package, running off-line, reads the data recorded by the acquisition system and extracts the signal characteristics. Due to the multiplicity of sensors, the data obtained can be redundant because the same type of information may be seen by two or more sensors. Because of the price of the sensors, this aspect can be considered in order to reduce the cost of the system. On the other hand, the placement of the sensors is an important issue in order to obtain the suitable signals of the vibration phenomenon. Moreover, the study of these issues can help in the design optimization of the acquisition system. In this line of thought a sensor classification scheme is presented. Several authors have addressed the subject of the sensor classification scheme. White (White, 1987) presents a flexible and comprehensive categorizing scheme that is useful for describing and comparing sensors. The author organizes the sensors according to several aspects: measurands, technological aspects, detection means, conversion phenomena, sensor materials and fields of application. Michahelles and Schiele (Michahelles & Schiele, 2003) systematize the use of sensor technology. They identified several dimensions of sensing that represent the sensing goals for physical interaction. A conceptual framework is introduced that allows categorizing existing sensors and evaluates their utility in various applications. This framework not only guides application designers for choosing meaningful sensor subsets, but also can inspire new systems and leads to the evaluation of existing applications. Today’s technology offers a wide variety of sensors. In order to use all the data from the diversity of sensors a framework of integration is needed. Sensor fusion, fuzzy logic, and neural networks are often mentioned when dealing with problem of combing information from several sensors to get a more general picture of a given situation. The study of data fusion has been receiving considerable attention (Esteban et al., 2005; Luo & Kay, 1990). A survey of the state of the art in sensor fusion for robotics can be found in (Hackett & Shah, 1990). Henderson and Shilcrat (Henderson & Shilcrat, 1984) introduced the concept of logic sensor that defines an abstract specification of the sensors to integrate in a multisensor system. The recent developments of micro electro mechanical sensors (MEMS) with unwired communication capabilities allow a sensor network with interesting capacity. This technology was applied in several applications (Arampatzis & Manesis, 2005), including robotics. Cheekiralla and Engels (Cheekiralla & Engels, 2005) propose a classification of the unwired sensor networks according to its functionalities and properties. This paper presents a development of a sensor classification scheme based on the frequency spectrum of the signals and on a statistical metrics. Bearing these ideas in mind, this paper is organized as follows. Section 2 describes briefly the robotic system enhanced with the instrumentation setup. Section 3 presents the experimental results. Finally, section 4 draws the main conclusions and points out future work.

Políticas e modelos de gestão em unidades de fisioterapia: estratégias para a mudança

Mestrado em Intervenção Sócio-Organizacional na Saúde - Área de especialização: Políticas de Administração e Gestão de Serviços de Saúde

Parallel texts alignment

Trabalho apresentado no âmbito do Mestrado em Engenharia Informática, como requisito parcial para obtenção do grau de Mestre em Engenharia Informática

Using remote labs in education: two little ducks in remote experimentation

A book about remote labs and engineering education begs to begin with the question, “Why do engineering programs include lab work?” Although this may seem like a given and not worth discussing, whenever we’re faced with innovative ideas, it’s important to “put everything on the table” in order to reassess its value to our program or goals. What is it about lab work that is of value to students? Are there elements of traditional labs that we could let go of? Are there elements that we don’t want to lose? These questions can help us to clarify how and why labs are integrated into an engineering education program.

Adapting remote labs to learning scenarios: case studies using VISIR and RemotElectLab

Remote laboratories are an emergent technological and pedagogical tool at all education levels, and their widespread use is an important part of their own improvement and evolution. This paper describes several issues encountered on laboratorial classes, on higher education courses, when using remote laboratories based on PXI systems, either using the VISIR system or an alternate in-house solution. Three main issues are presented and explained, all reported by teachers, that gave support to students' use of remote laboratories. The first issue deals with the need to allow students to select the actual place where an ammeter is to be inserted on electric circuits, even incorrectly, therefore emulating real-world difficulties. The second one deals with problems with timing when several measurements are required at short intervals, as in the discharge cycle of a capacitor. In addition, the last issue deals with the use of a multimeter in dc mode when reading ac values, a use that collides with the lab settings. All scenarios are presented and discussed, including the solution found for each case. The conclusion derived from the described work is that the remote laboratories area is an expanding field, where practical use leads to improvement and evolution of the available solutions, requiring a strict cooperation and information-sharing between all actors, i.e., developers, teachers, and students.

Low-carbon cement with waste oil-craking catalyst incorporation

The present paper shows preliminary results of an ongoing project which one of the goals is to investigate the viability of using waste FCC catalyst (wFCC), originated from Portuguese oil refinery, to produce low carbon blended cements. For this purpose, four blended cements were produced by substituting cement CEM I 42.5R up to 20% (w/w) by waste FCC catalyst. Initial and final setting times, consistency of standard paste, soundness and compressive strengths after 2, 7 and 28 days were measured. It was observed that the wFCC blended cements developed similar strength, at 28 days, compared to the reference cement, CEM I 42.5R. Moreover, cements with waste FCC catalyst incorporation up to 15% w/w meet European Standard EN 197-1 specifications for CEM II/A type cement, in the 42.5R strength class.

Patterns of Associational Life in Western Europe, 1800-2000

Thesis submitted for assessment with a view to obtaining the degree of Doctor of Political and Social Science of the European University Institute

Evaluation of the influence of testing parameters on the melt flow index of thermoplastics

The main goals of the present work are the evaluation of the influence of several variables and test parameters on the melt flow index (MFI) of thermoplastics, and the determination of the uncertainty associated with the measurements. To evaluate the influence of test parameters on the measurement of MFI the design of experiments (DOE) approach has been used. The uncertainty has been calculated using a "bottom-up" approach given in the "Guide to the Expression of the Uncertainty of Measurement" (GUM). Since an analytical expression relating the output response (MFI) with input parameters does not exist, it has been necessary to build mathematical models by adjusting the experimental observations of the response variable in accordance with each input parameter. Subsequently, the determination of the uncertainty associated with the measurement of MFI has been performed by applying the law of propagation of uncertainty to the values of uncertainty of the input parameters. Finally, the activation energy (Ea) of the melt flow at around 200 degrees C and the respective uncertainty have also been determined.

Agile modeling data warehouse development

Most of the traditional software and database development approaches tend to be serial, not evolutionary and certainly not agile, especially on data-oriented aspects. Most of the more commonly used methodologies are strict, meaning they’re composed by several stages each with very specific associated tasks. A clear example is the Rational Unified Process (RUP), divided into Business Modeling, Requirements, Analysis & Design, Implementation, Testing and Deployment. But what happens when the needs of a well design and structured plan, meet the reality of a small starting company that aims to build an entire user experience solution. Here resource control and time productivity is vital, requirements are in constant change, and so is the product itself. In order to succeed in this environment a highly collaborative and evolutionary development approach is mandatory. The implications of constant changing requirements imply an iterative development process. Project focus is on Data Warehouse development and business modeling. This area is usually a tricky one. Business knowledge is part of the enterprise, how they work, their goals, what is relevant for analyses are internal business processes. Throughout this document it will be explained why Agile Modeling development was chosen. How an iterative and evolutionary methodology, allowed for reasonable planning and documentation while permitting development flexibility, from idea to product. More importantly how it was applied on the development of a Retail Focused Data Warehouse. A productized Data Warehouse built on the knowledge of not one but several client needs. One that aims not just to store usual business areas but create an innovative sets of business metrics by joining them with store environment analysis, converting Business Intelligence into Actionable Business Intelligence.

Implementação ferramenta LEAN – TPM - serrote mecânico alternativo

Presentemente, com a economia cada vez mais globalizada e com a grande competitividade do mercado, as empresas de produção procuram cada vez mais ajustar-se às exigências dos clientes. Por esse motivo, o controlo do fluxo produtivo torna-se imprescindível para a resolução de problemas e para a própria melhoria contínua do processo. O sistema “Lean Manufacturing”, é um conjunto de atividades que tem como meta o aumento da capacidade de resposta às mudanças e à minimização dos desperdícios na produção, constituindo-se num verdadeiro empreendimento de gestão inovadora. O TPM – Total Productive Maintenance, é uma ferramenta de melhoria continua cada vez mais utilizada nas empresas com o objetivo de melhorar a eficiência dos seus equipamentos e atingir metas para a redução de desperdícios, incluindo a restauração e manutenção de condições padrão de funcionamento. O presente trabalho visa a implementação da ferramenta TPM num equipamento (Serrote Mecânico Alternativo) instalado no Laboratório das Oficinas Mecânicas do Instituto Superior de Engenharia do Porto. No contexto prático, este trabalho consistiu numa primeira fase por implementar a ferramenta 5S´s no posto de trabalho do equipamento em estudo. Durante esta implementação foi possível detetar algumas anomalias no equipamento, tendo sido sujeitas a uma análise para encontrar as suas causas raiz. Posteriormente foi implementada a ferramenta TPM, de modo, a criar melhores condições de acesso e simplificação das atividades de inspeção, lubrificação e limpeza. Além disso, foi executado e proposto algumas oportunidades de melhoria em alguns elementos, de forma a reduzir tempos de operação e tempos de setup, contribuindo para o aumento da eficiência do equipamento.

Melhoria do processo produtivo numa metalomecânica

Este projeto foi realizado na Empresa Fernando Jesus Mourão & Cª Lda, durante o ano de 2012, e teve como objetivo a melhoria do processo produtivo. Esta melhoria assentou na identificação de possíveis pontos de desperdício, no estudo e avaliação de soluções e por fim na definição de propostas de melhoria globais que visem ajustar o fluxo do processo produtivo à procura e simultaneamente minimizar custos operacionais. De forma a atingir estas metas, foi feito um levantamento exaustivo do processo produtivo e das respetivas operações. Neste estudo, apesar do elevado numero de oportunidades de melhoria, foi possível identificar duas áreas que se revelaram criticas e fundamentais para a introdução da filosofia de melhoria continua na empresa. Estas áreas que são o objeto de estudo desta dissertação são: o corte laser e a organização do pavilhão 3. Uma vez identificados as áreas críticas, procedeu-se a uma análise e definição das ações de melhoria a empreender de modo a melhorar o fluxo produtivo e a sua organização, e simultaneamente reduzir custos. Na área de corte laser procurou-se implementar a filosofia de produção “Lean” nomeadamente através da ferramenta de análise PDCA (Plan-Do-Check-Act), como ferramenta auxiliar do estudo para elaborar um plano de ação, implementar as ações, analisar os resultados e procurar a manutenção dos mesmos. Na intervenção do pavilhão 3 foi usada a técnica dos 5S para organizar e agilizar o funcionamento do mesmo. Todo o trabalho assenta na filosofia Lean e nos seus princípios, tendo-se por isso utilizado as ferramentas especificas Lean na concretização das tarefas executadas no seu âmbito. Para medir os resultados, antes e depois das ações implementadas, foi utilizada o indicador de eficiência (Overall Equipment Effectiveness) para o caso do processo de corte laser. Após a implementação das medidas definidas no processo de corte laser foi possível observar uma melhoria do indicador OEE de cerca de 20 por cento. Por outro lado as melhorias implementadas através da ferramenta dos 5S no pavilhão 3, trouxe ganhos visíveis de aumento de produtividade que beneficiaram o tempo de resposta da empresa.

A promoção da autonomia numa sala do movimento da escola moderna

Relatório da Prática Profissional Supervisionada Mestrado em Educação Pré-Escolar

Designing market-based instruments for biodiversity conservation: learning with the Australian experience and evaluating Portugal's potential

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia do Ambiente, perfil Gestão de Sistemas Ambientais