Vision based obstacle detection for all-terrain robots

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores

Conceiving modern engineers within the framework of the sustainability action plan (PASUS) of ISEP: sustainability matters!

Engineering education practices have evolved not only due to the natural changes in the contents of the curricula and skills but also, and more recently, due to the requirements imposed by the Bologna revision process. In addition, industry is becoming more demanding, as society is becoming more and more aware of the global needs and consequences of industrial practices. Under this scope, higher education needs not only to follow but also to lead these trends. Therefore, the School of Engineering of the Polytechnic Institute of Porto (ISEP), a Global Reporting Initiative (GRI) training partner in Portugal, prepared and presented its Sustainability Action Plan (PASUS), with the main objective of creating a new kind of engineers, with Sustainable Development at the core of their graduation and MsC degrees. In this paper, the main strategies and activities of the referred plan along with the strategic approach, which guided its development and implementation, will be presented in detail. Additionally, a reflection about the above mentioned bridge between concept and application will be established and justified, in the framework of the action plan. Although in most of the situations, there was no prior discussion or specific request, many of the graduation and post-graduation programmes offered by ISEP already include courses that attend to PASUS philosophy. As a consequence, the number of Master thesis, Graduation projects and R&D projects that address sustainability problems has grown substantially, a proof that for ISEP community, sustainability really matters!

Análise comparativa de valores de imóveis e de métodos de avaliação

Esta dissertação considera a importância da avaliação imobiliária no mercado imobiliário, nas mais diversas situações. Contudo, cinge-se à determinação de um presumível valor de transação para apartamentos, moradias, lojas e terrenos, para venda ou arrendamento. Os mercados imobiliários escolhidos são dois concelhos conhecidos, da autora, por ser mais fácil a perceção dos locais e preços de venda. Foi escolhido o Concelho de Valongo para apartamentos, moradias e terrenos e o Concelho da Maia para lojas. Para determinarmos os valores em estudo adotaram-se os métodos de avaliação imobiliária mais comuns nomeadamente: o Método Comparativo, Método do Rendimento e o Método do Custo. São apresentados os métodos de avaliação mais utilizados, descrevendo-se a aplicação de cada um deles e as suas condições necessárias. Fez-se uma comparação entre cada um o que permitiu concluir sobre os mesmos. A recolha dos imóveis objeto de estudo foi efetuada em Sites de empresas imobiliárias que dispunham de informação necessária ao âmbito do trabalho. Aplicaram-se os métodos a cada caso recolhido e posteriormente fez-se a comparação dos resultados obtidos. Através de tratamento estatístico, utilizaram-se as técnicas de regressão múltipla para análise de relações entre os métodos de avaliação aplicados. Por fim, retiraram-se conclusões sobre a relação existente entre os três métodos de avaliação.

Modelling an e-learning environment for learning programming languages

It is widely accepted that solving programming exercises is fundamental to learn how to program. Nevertheless, solving exercises is only effective if students receive an assessment on their work. An exercise solved wrong will consolidate a false belief, and without feedback many students will not be able to overcome their difficulties. However, creating, managing and accessing a large number of exercises, covering all the points in the curricula of a programming course, in classes with large number of students, can be a daunting task without the appropriated tools working in unison. This involves a diversity of tools, from the environments where programs are coded, to automatic program evaluators providing feedback on the attempts of students, passing through the authoring, management and sequencing of programming exercises as learning objects. We believe that the integration of these tools will have a great impact in acquiring programming skills. Our research objective is to manage and coordinate a network of eLearning systems where students can solve computer programming exercises. Networks of this kind include systems such as learning management systems (LMS), evaluation engines (EE), learning objects repositories (LOR) and exercise resolution environments (ERE). Our strategy to achieve the interoperability among these tools is based on a shared definition of programming exercise as a Learning Object (LO).

Bridging between programming exercises formats with BabeLO

Assessment plays a vital role in learning. This is certainly the case with assessment of computer programs, both in curricular and competitive learning. The lack of a standard – or at least a widely used format – creates a modern Ba- bel tower made of Learning Objects, of assessment items that cannot be shared among automatic assessment systems. These systems whose interoperability is hindered by the lack of a common format include contest management systems, evaluation engines, repositories of learning objects and authoring tools. A prag- matical approach to remedy this problem is to create a service to convert among existing formats. A kind of translation service specialized in programming prob- lems formats. To convert programming exercises on-the-fly among the most used formats is the purpose of the BabeLO – a service to cope with the existing Babel of Learning Object formats for programming exercises. BabeLO was designed as a service to act as a middleware in a network of systems typically used in auto- matic assessment of programs. It provides support for multiple exercise formats and can be used by: evaluation engines to assess exercises regardless of its format; repositories to import exercises from various sources; authoring systems to create exercises in multiple formats or based on exercises from other sources. This paper analyses several of existing formats to highlight both their differ- ences and their similar features. Based on this analysis it presents an approach to extensible format conversion. It presents also the features of PExIL, the pivotal format in which the conversion is based; and the function definitions of the proposed service – BabeLO. Details on the design and implementation of BabeLO, including the service API and the interfaces required to extend the conversion to a new format, are also provided. To evaluate the effectiveness and efficiency of this approach this paper reports on two actual uses of BabeLO: to relocate exercises to a different repository; and to use an evaluation engine in a network of heterogeneous systems.

Avaliação da Usabilidade de um Projeto de eHealth, enquadrado na visão europeia de Health Technology Assessment (HTA)

Trabalho de projeto apresentado à Escola Superior de Comunicação Social como parte dos requisitos para obtenção de grau de mestre em Audiovisual e Multimédia.

ALS-Sence: sistema de aquisição e processamento de electromiogramas para pacientes com ALS

Dissertação para obtenção do grau de Mestre em Engenharia de Eletrónica e Computadores

Mining social individuals movements and friends based on mobile devices

Trabalho de Projeto realizado para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Performance management in a family business: a case study

This research, still at an early stage, and then presented in a poster format, intended to explain the management of organizational performance of a family business in the succession process using the case study method. The scripts for semi-structured interviews that will apply to managers, owners and other workers who are deemed suitable for the investigation, which include relatives of the owners of the company are being developed. For this work the model of organizational performance management developed by David Otley in 1999 [1], consisting of five questions that seek to explain the existing performance management in any organization is utilized.

Ground Vibrations Induced by High-Speed Trains in Regions with Sudden Foundation Stiffness Change

In this paper analytical transient solutions of dynamic response of one-dimensional systems with sudden change of foundation stiffness are derived. In more details, cantilever dynamic response, expressed in terms of vertical displacement, is extended to account for elastic foundation and then two cantilever solutions, corresponding to beams clamped on left and right hand side, with different value of Winkler constant are connected together by continuity conditions. The internal forces, as the unknowns, can be introduced by the same values in both clamped beam solutions and solved. Assumption about time variation of internal forces at the section of discontinuity must be adopted and originally analytical solution will have to include numerical procedure.

Improving Assumption based Distributed Belief Revision

Belief revision is a critical issue in real world DAI applications. A Multi-Agent System not only has to cope with the intrinsic incompleteness and the constant change of the available knowledge (as in the case of its stand alone counterparts), but also has to deal with possible conflicts between the agents’ perspectives. Each semi-autonomous agent, designed as a combination of a problem solver – assumption based truth maintenance system (ATMS), was enriched with improved capabilities: a distributed context management facility allowing the user to dynamically focus on the more pertinent contexts, and a distributed belief revision algorithm with two levels of consistency. This work contributions include: (i) a concise representation of the shared external facts; (ii) a simple and innovative methodology to achieve distributed context management; and (iii) a reduced inter-agent data exchange format. The different levels of consistency adopted were based on the relevance of the data under consideration: higher relevance data (detected inconsistencies) was granted global consistency while less relevant data (system facts) was assigned local consistency. These abilities are fully supported by the ATMS standard functionalities.

Algorithm-oriented design of efficient many-core architectures applied to dense matrix multiplication

Recent integrated circuit technologies have opened the possibility to design parallel architectures with hundreds of cores on a single chip. The design space of these parallel architectures is huge with many architectural options. Exploring the design space gets even more difficult if, beyond performance and area, we also consider extra metrics like performance and area efficiency, where the designer tries to design the architecture with the best performance per chip area and the best sustainable performance. In this paper we present an algorithm-oriented approach to design a many-core architecture. Instead of doing the design space exploration of the many core architecture based on the experimental execution results of a particular benchmark of algorithms, our approach is to make a formal analysis of the algorithms considering the main architectural aspects and to determine how each particular architectural aspect is related to the performance of the architecture when running an algorithm or set of algorithms. The architectural aspects considered include the number of cores, the local memory available in each core, the communication bandwidth between the many-core architecture and the external memory and the memory hierarchy. To exemplify the approach we did a theoretical analysis of a dense matrix multiplication algorithm and determined an equation that relates the number of execution cycles with the architectural parameters. Based on this equation a many-core architecture has been designed. The results obtained indicate that a 100 mm(2) integrated circuit design of the proposed architecture, using a 65 nm technology, is able to achieve 464 GFLOPs (double precision floating-point) for a memory bandwidth of 16 GB/s. This corresponds to a performance efficiency of 71 %. Considering a 45 nm technology, a 100 mm(2) chip attains 833 GFLOPs which corresponds to 84 % of peak performance These figures are better than those obtained by previous many-core architectures, except for the area efficiency which is limited by the lower memory bandwidth considered. The results achieved are also better than those of previous state-of-the-art many-cores architectures designed specifically to achieve high performance for matrix multiplication.

On performance of distributed model predictive control in power system frequency regulation

This paper describes the implementation of a distributed model predictive approach for automatic generation control. Performance results are discussed by comparing classical techniques (based on integral control) with model predictive control solutions (centralized and distributed) for different operational scenarios with two interconnected networks. These scenarios include variable load levels (ranging from a small to a large unbalance generated power to power consumption ratio) and simultaneously variable distance between the interconnected networks systems. For the two networks the paper also examines the impact of load variation in an island context (a network isolated from each other).

Projecto de parceria entre a ONGD Estímulo e a Rede de Farmácias Portuguesas: a união de esforços entre sectores para a resolução de problemas contemporâneos

Trabalho de projeto apresentado à Escola Superior de Comunicação Social como parte dos requisitos para obtenção de grau de mestre em Gestão Estratégica das Relações Públicas.

A saúde dos imigrantes em Portugal : que necessidades em saúde? : que utilização dos cuidados de saúde?

RESUMO - Portugal, país de imigração, viu aumentar a população imigrante em 4,56% de 2006 a 2008. Assim, torna-se importante conhecer não só as características socioeconómicas desta população imigrante, mas também quais as suas necessidades em saúde e que utilização fazem dos cuidados de saúde. Este trabalho baseou-se no IV Inquérito Nacional de Saúde realizado em 2005 e 2006 pelo INSA e analisou as populações portuguesa e imigrante nas variáveis de saúde e de utilização dos cuidados. Para a análise do rendimento utilizou-se a Curva de concentração proposta por Wagstaff, Índices de Concentração da Doença, de Utilização e Índice de LeGrand. Os resultados sugeriram melhor estado de saúde da população imigrante relativamente à população portuguesa (estado de saúde auto-reportado, sensação de mal-estar ou adoentado, dias de actividade limitada e dias de acamamento). Nas doenças crónicas (diabetes, asma e dor crónica), a população imigrante apresentou piores resultados na asma. Foram encontrados piores resultados em saúde entre as mulheres nos dois grupos de população, mas também mais frequência de utilização. Os imigrantes revelam também menor acessibilidade a consultas médicas e consumo de medicamentos. A análise do rendimento enquanto factor gerador de desigualdades em saúde permitiu concluir que existem desigualdades na distribuição do rendimento que condicionam tanto a população portuguesa como a população imigrante. Outros estudos poderão ser considerados para análise da saúde da população imigrante, especialmente os que incluam os cidadãos indocumentados, análise das populações por país de nascimento, os anos de permanência em Portugal e as causas de mortalidade. ---------------------------- ABSTRACT - Portugal, a country of immigration, has seen its immigrant population increasing 4.56% from 2006 to 2008. Therefore, it is important to analyse, not only the socioeconomic characteristics of immigrant population, but also their health needs and utilization of health care. This work was based on the IV National Health Survey conducted in 2005 and 2006 by INSA and analyzed the Portuguese and Immigrant populations in the variables of Health and Utilization of Health Services. In order to analyse the income, the Concentration Curve proposed by Wagstaff and the Concentration Index was used. The results suggested a better health in immigrant population compared with Portuguese population (state of self-reported health, feeling sick or ill, days of limited activity and days of lodging). For the variables of chronic diseases (diabetes, asthma and chronic pain), immigrants have shown worse results in asthma. In both groups (Immigrants and Portuguese), women have had more health problems than men. Lower utilization among Immigrants was found in outpatient visits and in prescription drug utilization. In conclusion, it can be stated that the analysis of the income as a generator of health inequalities showed inequalities in the income distribution that affects both Portuguese and immigrants’ health. Other studies may be considered to analyze immigrants’ health especially those that include undocumented immigrants, analysis of populations by country of birth, years of residence in Portugal and the causes of mortality.