Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Writing skills at secondary level. Developing an English language writing syllabus - a case study

Trabalho de projecto apresentado para o cumprimento dos requisitos necessários à obtenção do grau de mestre em Didática do Inglês

Developing writing skills in English language teaching through the use of blogs and e-mail at primary school level

Trabalho de Projeto apresentado para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Teaching English as a Second / Foreign Language

A Methodology for Creating an Adapted Command Language for Driving an Intelligent Wheelchair

Intelligent wheelchairs (IW) are technologies that can increase the autonomy and independence of elderly people and patients suffering from some kind of disability. Nowadays the intelligent wheelchairs and the human-machine studies are very active research areas. This paper presents a methodology and a Data Analysis System (DAS) that provides an adapted command language to an user of the IW. This command language is a set of input sequences that can be created using inputs from an input device or a combination of the inputs available in a multimodal interface. The results show that there are statistical evidences to affirm that the mean of the evaluation of the DAS generated command language is higher than the mean of the evaluation of the command language recommended by the health specialist (p value = 0.002) with a sample of 11 cerebral palsy users. This work demonstrates that it is possible to adapt an intelligent wheelchair interface to the user even when the users present heterogeneous and severe physical constraints.

Message-oriented middleware for smart grids

In order to increase the efficiency in the use of energy resources, the electrical grid is slowly evolving into a smart(er) grid that allows users' production and storage of energy, automatic and remote control of appliances, energy exchange between users, and in general optimizations over how the energy is managed and consumed. One of the main innovations of the smart grid is its organization over an energy plane that involves the actual exchange of energy, and a data plane that regards the Information and Communication Technology (ICT) infrastructure used for the management of the grid's data. In the particular case of the data plane, the exchange of large quantities of data can be facilitated by a middleware based on a messaging bus. Existing messaging buses follow different data management paradigms (e.g.: request/response, publish/subscribe, data-oriented messaging) and thus satisfy smart grids' communication requirements at different extents. This work contributes to the state of the art by identifying, in existing standards and architectures, common requirements that impact in the messaging system of a data plane for the smart grid. The paper analyzes existing messaging bus paradigms that can be used as a basis for the ICT infrastructure of a smart grid and discusses how these can satisfy smart grids' requirements.

Análise da tradução e legendagem da sátira no mockumentary

O presente trabalho foi elaborado no âmbito da dissertação do Mestrado em Tradução e Interpretação Especializadas, e tem como objectivo estudar o formato mockumentary, no qual se baseia a minha análise, e compreender as especificidades da tradução do elemento satírico de que este híbrido se pode revestir, enquanto elemento potenciador de comicidade. A Tradução Audiovisual é um fenómeno com que nos deparamos diariamente, seja a partir de uma televisão, de um ecrã de computador ou de um dispositivo móvel, em que estamos perante um conjunto de elementos semióticos diversos, para os quais concorre uma combinação essencial de quatro canais, a saber, o canal visual, acústico, verbal e não-verbal. O tradutor deve ter em consideração não só o código verbal, como também os elementos que não são estritamente linguísticos, como gestos, música, expressões faciais, etc. Dado que Uma Família Muito Moderna, sobre a qual baseei a minha análise, é uma série humorística com um forte pendor satírico, afigurou-se como primeiro objecto de estudo por descrever o mockumentary e analisar como esse humor se verifica na versão portuguesa. Deste modo, impõe-se abordar a questão da tradução do humor, neste caso de trocadilhos (wordplay), puns e casos de polissemia, bem como da tradução de referências culturais e intertextuais. Para esse efeito, procedi a uma análise contrastiva entre o texto original, em língua inglesa, e verificar a recuperação do tom satírico potenciador de humor nas legendas, na língua de chegada, em língua portuguesa. Em conjunto, estes elementos concorrem para a construção de um texto que, no caso deste mockumentary, se reveste de um forte tom satírico - mock - para a criação de humor, apresentando uma série que, apesar de indubitavelmente fictícia, revela determinados traços associados a formatos televisivos informativos - documentary - , transmitindo ao espectador uma ilusão de realidade e de factualidade.

Emotion-oriented interventions for environment and the facilitation of pro-environmental behavior

Dissertação para obtenção do Grau de Doutor em Ambiente, pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

User friendly knowledge acquisition system for medical devices actuation

Dissertação para obtenção do Grau de Mestre em Engenharia Biomédica

Framework development for providing accessibility to qualitative spatial calculi

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Developing Young Learners’ Logical/Deductive Thinking Skills and Second Language Skills through a CLIL approach

Trabalho de Projecto apresentado para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Teaching English as a Second / Foreign Language.

People and object tracking for video annotation

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

NEGOSEIO: framework for the sustainability of model-oriented enterprise interoperability

Dissertation to obtain the degree of Doctor of Philosophy in Electrical and Computer Engineering(Industrial Information Systems)

The use of corpora to the teach english as a foreign language in secondary education in Portugal

Trabalho de Projecto apresentado para cumprimento dos requisitos necessários à obtenção do grau de Mestre em Didáctica Do Inglês

The impact of type of language and number of reasons on purchase intent

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