Combining sparse and dense methods in 6D Visual Odometry

13th International Conference on Autonomous Robot Systems (Robotica), 2013, Lisboa

Simulation Environment for Multi-Robot Cooperative 3D Target Perception

4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014

Multi-agent simulation of competitive electricity markets: Autonomous systems cooperation for European market modeling

The electricity market restructuring, and its worldwide evolution into regional and even continental scales, along with the increasing necessity for an adequate integration of renewable energy sources, is resulting in a rising complexity in power systems operation. Several power system simulators have been developed in recent years with the purpose of helping operators, regulators, and involved players to understand and deal with this complex and constantly changing environment. The main contribution of this paper is given by the integration of several electricity market and power system models, respecting to the reality of different countries. This integration is done through the development of an upper ontology which integrates the essential concepts necessary to interpret all the available information. The continuous development of Multi-Agent System for Competitive Electricity Markets platform provides the means for the exemplification of the usefulness of this ontology. A case study using the proposed multi-agent platform is presented, considering a scenario based on real data that simulates the European Electricity Market environment, and comparing its performance using different market mechanisms. The main goal is to demonstrate the advantages that the integration of various market models and simulation platforms have for the study of the electricity markets’ evolution.

Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization Approach

Previously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.

Visualization and interaction in a simulation system for flood emergencies

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

Stochastic modelling of the reservoir lithological and petrophysical attributes. A case study of the Middle East carbonate reservoir

Dissertação para obtenção do Grau de Mestre em Engenharia Geológica (Georrecursos)

Stochastic simulation of the morphology of fluvial sand channels reservoirs

Dissertação para obtenção do Grau de Mestre em Engenharia Geológica (Georrecursos)

Full-scale biological phosphorus removal: quantification of storage polymers, microbial performance and metabolic modelling

Dissertação para obtenção do Grau de Doutor em Engenharia Química e Bioquímica

Breeding of Biomphalaria tenagophila in mass scale

An efficient method for breeding Biomphalaria tenagophila (Taim lineage/RS) was developed over a 5-year-period (2005-2010). Special facilities were provided which consisted of four cement tanks (9.4 x 0.6 x 0.22 m), with their bottom covered with a layer of sterilized red earth and calcium carbonate. Standard measures were adopted, as follows: each tank should contain an average of 3000 specimens, and would be provided with a daily ration of 35,000 mg complemented with lettuce. A green-house effect heating system was developed which constituted of movable dark canvas covers, which allowed the temperature to be controlled between 20 - 24 ºC. This system was essential, especially during the coldest months of the year. Approximately 27,000 specimens with a diameter of 12 mm or more were produced during a 14-month-period. The mortality rates of the newly-hatched and adult snails were 77% and 37%, respectively. The follow-up of the development system related to 310 specimens of B. tenagophila demonstrated that 70-day-old snails reached an average of 17.0 ± 0.9 mm diameter. The mortality rates and the development performance of B. tenagophila snails can be considered as highly satisfactory, when compared with other results in literature related to works carried out with different species of the genus Biomphalaria, under controlled laboratory conditions.

Middleware for Large-scale Distributed Systems

Nos últimos anos o aumento exponencial da utilização de dispositivos móveis e serviços disponibilizados na “Cloud” levou a que a forma como os sistemas são desenhados e implementados mudasse, numa perspectiva de tentar alcançar requisitos que até então não eram essenciais. Analisando esta evolução, com o enorme aumento dos dispositivos móveis, como os “smartphones” e “tablets” fez com que o desenho e implementação de sistemas distribuidos fossem ainda mais importantes nesta área, na tentativa de promover sistemas e aplicações que fossem mais flexíveis, robutos, escaláveis e acima de tudo interoperáveis. A menor capacidade de processamento ou armazenamento destes dispositivos tornou essencial o aparecimento e crescimento de tecnologias que prometem solucionar muitos dos problemas identificados. O aparecimento do conceito de Middleware visa solucionar estas lacunas nos sistemas distribuidos mais evoluídos, promovendo uma solução a nível de organização e desenho da arquitetura dos sistemas, ao memo tempo que fornece comunicações extremamente rápidas, seguras e de confiança. Uma arquitetura baseada em Middleware visa dotar os sistemas de um canal de comunicação que fornece uma forte interoperabilidade, escalabilidade, e segurança na troca de mensagens, entre outras vantagens. Nesta tese vários tipos e exemplos de sistemas distribuídos e são descritos e analisados, assim como uma descrição em detalhe de três protocolos (XMPP, AMQP e DDS) de comunicação, sendo dois deles (XMPP e AMQP) utilzados em projecto reais que serão descritos ao longo desta tese. O principal objetivo da escrita desta tese é demonstrar o estudo e o levantamento do estado da arte relativamente ao conceito de Middleware aplicado a sistemas distribuídos de larga escala, provando que a utilização de um Middleware pode facilitar e agilizar o desenho e desenvolvimento de um sistema distribuído e traz enormes vantagens num futuro próximo.

Cognitive assessment of topological movement Patterns and direction turns: An influence of scale

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

Implementation of an IoT-based Sensor Network Integrating IoT-based Sensor Networks with Large-Scale Message Distribution

As technology advances not only do new standards and programming styles appear but also some of the previously established ones gain relevance. In a new Internet paradigm where interconnection between small devices is key to the development of new businesses and scientific advancement there is the need to find simple solutions that anyone can implement in order to allow ideas to become more than that, ideas. Open-source software is still alive and well, especially in the area of the Internet of Things. This opens windows for many low capital entrepreneurs to experiment with their ideas and actually develop prototypes, which can help identify problems with a project or shine light on possible new features and interactions. As programming becomes more and more popular between people of fields not related to software there is the need for guidance in developing something other than basic algorithms, which is where this thesis comes in: A comprehensive document explaining the challenges and available choices of developing a sensor data and message delivery system, which scales well and implements the delivery of critical messages. Modularity and extensibility were also given much importance, making this an affordable tool for anyone that wants to build a sensor network of the kind.

Ontologies for the interoperability of multiagent electricity markets simulation platforms

Electricity markets worldwide are complex and dynamic environments with very particular characteristics. These are the result of electricity markets’ restructuring and evolution into regional and continental scales, along with the constant changes brought by the increasing necessity for an adequate integration of renewable energy sources. The rising complexity and unpredictability in electricity markets has increased the need for the intervenient entities in foreseeing market behaviour. Market players and regulators are very interested in predicting the market’s behaviour. Market players need to understand the market behaviour and operation in order to maximize their profits, while market regulators need to test new rules and detect market inefficiencies before they are implemented. The growth of usage of simulation tools was driven by the need for understanding those mechanisms and how the involved players' interactions affect the markets' outcomes. Multi-agent based software is particularly well fitted to analyse dynamic and adaptive systems with complex interactions among its constituents, such as electricity markets. Several modelling tools directed to the study of restructured wholesale electricity markets have emerged. Still, they have a common limitation: the lack of interoperability between the various systems to allow the exchange of information and knowledge, to test different market models and to allow market players from different systems to interact in common market environments. This dissertation proposes the development and implementation of ontologies for semantic interoperability between multi-agent simulation platforms in the scope of electricity markets. The added value provided to these platforms is given by enabling them sharing their knowledge and market models with other agent societies, which provides the means for an actual improvement in current electricity markets studies and development. The proposed ontologies are implemented in MASCEM (Multi-Agent Simulator of Competitive Electricity Markets) and tested through the interaction between MASCEM agents and agents from other multi-agent based simulators. The implementation of the proposed ontologies has also required a complete restructuring of MASCEM’s architecture and multi-agent model, which is also presented in this dissertation. The results achieved in the case studies allow identifying the advantages of the novel architecture of MASCEM, and most importantly, the added value of using the proposed ontologies. They facilitate the integration of independent multi-agent simulators, by providing a way for communications to be understood by heterogeneous agents from the various systems.

Validação da Versão Portuguesa da "Activities-specific Balance Confidence Scale"

Introdução: Muitos dos instrumentos disponíveis para a avaliação do equilíbrio, risco de queda e medo de cair medem apenas actividades simples no domicílio e apresentam tendência para um “efeito de tecto” em idosos residentes na comunidade. A “Activities-specific Balance Confidence (ABC) Scale” foi concebida para avaliar o equilíbrio de forma abrangente, num conjunto de actividades de vida diária associadas a um largo espectro de dificuldade. Objectivos: Traduzir para português e adaptar culturalmente para Portugal a “Activities-specific Balance Confidence (ABS) Scale” e avaliar a sua fiabilidade. População e Métodos: Tradução e adaptação cultural do instrumento e subsequente aplicação a uma população idosa portuguesa, para determinação da sua fiabilidade inter-observador, fiabilidade intra-observador e consistência interna. Resultados: Os resultados foram muito homogéneos na grande maioria das comparações realizadas, quer intra-observador, quer inter-observador. A avaliação da consistência interna revelou valores muito elevados. Estes níveis de fiabilidade mantiveram-se mesmo removendo qualquer uma das 16 questões que compõem o questionário, mantendo-se praticamente constantes os valores registados com o questionário completo. Conclusões: A versão portuguesa da escala ABC demonstrou boa fiabilidade intra-observador, fiabilidade inter-observador e consistência interna na avaliação da auto-percepção do equilíbrio para diversas actividades de vida diária numa população idosa portuguesa. Outros trabalhos serão necessários para avaliar a utilidade desta escala na avaliação do risco de queda e do efeito de intervenções terapêuticas nesta população.