Application of fractional controllers for quad rotor

This paper studies the application of fractional algorithms in the control of a quad-rotor rotorcraft. The development of a flight simulator provide the evaluation of the controller algorithm. Several basic maneuvers are investigated, namely the elevation and the position control.

Application of genetic algorithms in the design of an electrical potential of fractional order

Fractional calculus (FC) is currently being applied in many areas of science and technology. In fact, this mathematical concept helps the researches to have a deeper insight about several phenomena that integer order models overlook. Genetic algorithms (GA) are an important tool to solve optimization problems that occur in engineering. This methodology applies the concepts that describe biological evolution to obtain optimal solution in many different applications. In this line of thought, in this work we use the FC and the GA concepts to implement the electrical fractional order potential. The performance of the GA scheme, and the convergence of the resulting approximation, are analyzed. The results are analyzed for different number of charges and several fractional orders.

Application of robust fixed point transformations for technological operation of robots

A robot’s drive has to exert appropriate driving forces that can keep its arm and end effector at the proper position, velocity and acceleration, and simultaneously has to compensate for the effects of the contact forces arising between the tool and the workpiece depending on the needs of the actual technological operation. Balancing the effects of a priori unknown external disturbance forces and the inaccuracies of the available dynamic model of the robot is also important. Technological tasks requiring well prescribed end effector trajectories and contact forces simultaneously are challenging control problems that can be tackled in various manners.

NiII, CuII and ZnII complexes with a sterically hindered scorpionate ligand (TpmsPh) and catalytic application in the diasteroselective nitroaldol (Henry) reaction

The Ni-II and Zn-II complexes [MCl(Tpms(Ph))] (Tpms(Ph) = SO3C(pz(Ph))(3), pz = pyrazolyl; M = Ni 2 or Zn 3) and the Cu-II complex [CuCl(Tpms(Ph))(H2O)] (4) have been prepared by treatment of the lithium salt of the sterically demanding and coordination flexible tris(3-phenyl-1-pyrazolyl)methanesulfonate (Tpms(Ph))(-) (1) with the respective metal chlorides. The (Tpms(Ph))(-) ligand shows the N-3 or N2O coordination modes in 2 and 3 or in 4, respectively. Upon reaction of 2 and 3 with Ag(CF3SO3) in acetonitrile the complexes [M(Tpms(Ph))-(MeCN)](CF3SO3) (M = Ni 5 or Zn 6, respectively) were formed. The compounds were obtained in good yields and characterized by analytic and spectral (IR, H-1 and C-13{H-1} NMR, ESI-MS) data, density functional theory (DFT) methods and {for 4 and [(Bu4N)-Bu-n](Tpms(Ph)) (7), the tatter obtained upon Li+ replacement by [(Bu4N)-Bu-n](+) in Li(Tpms(Ph))} by single crystal X-ray diffraction analysis. The Zn-II and Cu-II complexes (3 and 4, respectively) act as efficient catalyst precursors for the diastereoselective nitroaldol reaction of benzaldehydes and nitroethane to the corresponding beta-nitroalkanols (up to 99% yield, at room temperature) with diastereoselectivity towards the formation of the anti isomer, whereas the Ni-II complex 2 only shows a modest catalytic activity.

Synthesis and characterization of COPPER(II) 4´-phenyl-terpyridine compounds and catalytic application for aerobic oxidation of benzylic alcohols

The reactions between 4'-phenyl-terpyridine (L) and nitrate, acetate or chloride Cu(II) salts led to the formation of [Cu(NO3)(2)L] (1), [Cu(OCOCH3)(2)L]center dot CH2Cl2 (2 center dot CH2Cl2)and [CuCl2L]center dot[Cu(Cl)(mu-Cl)L](2) (3), respectively. Upon dissolving 1 in mixtures of DMSO-MeOH or EtOH-DMF the compounds [Cu(H2O){OS(CH3)(2)}L]-(NO3)(2) (4) and [Cu(HO)(CH3CH2OH)L](NO3) (5) were obtained, in this order. Reaction of 3 with AgSO3CF3 led to [CuCl(OSO2CF3)L] (6). The compounds were characterized by ESI-MS, IR, elemental analysis, electrochemical techniques and, for 2-6, also by single crystal X-ray diffraction. They undergo, by cyclic voltammetry, two single-electron irreversible reductions assigned to Cu(II) -> Cu(I)and Cu(I) -> Cu(0) and, for those of the same structural type, the reduction potential appears to correlate with the summation of the values of the Lever electrochemical EL ligand parameter, which is reported for the first time for copper complexes. Complexes 1-6 in combination with TEMPO (2,2,6,6-tetramethylpiperidinyl-1-oxyl radical) can exhibit a high catalytic activity, under mild conditions and in alkaline aqueous solution, for the aerobic oxidation of benzylic alcohols. Molar yields up to 94% (based on the alcohol) with TON values up to 320 were achieved after 22 h.

A smart layer for remote laboratories

Commonly, when a weblab is developed to support remote experiments in sciences and engineering courses, a particular hardware/software architecture is implemented. However, the existence of several technological solutions to implement those architectures difficults the emergence of a standard, both at hardware and software levels. While particular solutions are adopted assuming that only qualified people may implement a weblab, the control of the physical space and the power consumption are often forgotten. Since controlling these two previous aspects may increase the quality of the weblab hosting the remote experiments, this paper proposes the useof a new layer implemented by a domotic system bus with several devices (e.g. lights, power sockets, temperature sensors, and others) able to be controlled through the Internet. We also provide a brief proof-of-concept in the form of a weblab equipped with a simple domotic system usually implemented in smart houses. The added value to the remote experiment hosted at the weblab is also identified in terms of power savings and environment conditions.

InOx thin films deposited by plasma assisted evaporation: application in light shutters

An integration of undoped InOx and commercial ITO thin films into laboratory assembled light shutter devices is made. Accordingly, undoped transparent conductive InOx thin films, about 100 nm thick, are deposited by radiofrequency plasma enhanced reactive thermal evaporation (rf-PERTE) of indium teardrops with no intentional heating of the glass substrates. The process of deposition occurs at very low deposition rates (0.1-0.3 nm/s) to establish an optimized reaction between the oxygen plasma and the metal vapor. These films show the following main characteristics: transparency of 87% (wavelength, lambda = 632.8 nm) and sheet resistance of 52 Omega/sq; while on commercial ITO films the transparency was of 92% and sheet resistance of 83 Omega/sq. The InOx thin film surface characterized by AFM shows a uniform grain texture with a root mean square surface roughness of Rq similar to 2.276 nm. In contrast, commercial ITO topography is characterized by two regions: one smoother with Rq similar to 0.973 nm and one with big grains (Rq similar to 3.617 nm). For the shutters assembled using commercial ITO, the light transmission coefficient (Tr) reaches the highest value (Tr-max) of 89% and the lowest (Tr-min) of 1.3% [13], while for the InOx shutters these values are 80.1% and 3.2%, respectively. Regarding the electric field required to achieve 90% of the maximum transmission in the ON state (E-on), the one presented by the devices assembled with commercial ITO coated glasses is 2.41 V/mu m while the one presented by the devices assembled with InOx coated glasses is smaller, 1.77 V/mu m. These results corroborate the device quality that depends on the base materials and fabrication process used. (C) 2014 Elsevier Ltd. All rights reserved.

Application of fractional algorithms in the control of a robotic bird

In this paper, it is studied the dynamics of the robotic bird in terms of time response and robustness. It is analyzed the wing angle of attack and the velocity of the bird, the tail influence, the gliding flight and the flapping flight. The results are positive for the construction of flying robots. The development of computational simulation based on the dynamic of the robotic bird should allow testing strategies and different algorithms of control such as integer and fractional controllers.

Consistent state software transactional memory

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

Physical layer aware network architecture for the future internet

In this article, physical layer awareness in access, core, and metro networks is addressed, and a Physical Layer Aware Network Architecture Framework for the Future Internet is presented and discussed, as proposed within the framework of the European ICT Project 4WARD. Current limitations and shortcomings of the Internet architecture are driving research trends at a global scale toward a novel, secure, and flexible architecture. This Future Internet architecture must allow for the co-existence and cooperation of multiple networks on common platforms, through the virtualization of network resources. Possible solutions embrace a full range of technologies, from fiber backbones to wireless access networks. The virtualization of physical networking resources will enhance the possibility of handling different profiles, while providing the impression of mutual isolation. This abstraction strategy implies the use of well elaborated mechanisms in order to deal with channel impairments and requirements, in both wireless (access) and optical (core) environments.

Educational application of remote experimentation for mobile devices

In this article the authors describe the application development RExMobile and the importance of remote experimentation via mobile devices, especially smartphones simple, beyond the space provided for this application in education. The article deals the creation, software and hardware that provide an interactive and dynamic way to attract more students to use these experiments remote, serving as support to teachers to science teaching from its initial series. The ease and availability of smartphones, even these students of basic education, permits the reach of new users and in different places. Thus, the practice of remote experimentation in mobile devices enables new spaces for access and interaction. Are used for developing software free or low cost, HTML5 and jQuery Mobile framework, that enable the creation of pages compatible with different mobile operating systems such as iOS, Android, Windows Phone, some Symbian, among others. Also are demonstrated patterns layouts that allow greater accessibility.

Tuning and application of integer and fractional order PID controllers

Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.

SmART: an application reconfiguration framework

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

Assessment and optimization of wind energy integration into the power systems: application to the portuguese system

The increasing integration of wind energy in power systems can be responsible for the occurrence of over-generation, especially during the off-peak periods. This paper presents a dedicated methodology to identify and quantify the occurrence of this over-generation and to evaluate some of the solutions that can be adopted to mitigate this problem. The methodology is applied to the Portuguese power system, in which the wind energy is expected to represent more than 25% of the installed capacity in a near future. The results show that the pumped-hydro units will not provide enough energy storage capacity and, therefore, wind curtailments are expected to occur in the Portuguese system. Additional energy storage devices can be implemented to offset the wind energy curtailments. However, the investment analysis performed show that they are not economically viable, due to the present high capital costs involved.

Plataforma de negociação de componentes multimédia

O objectivo da tese é demonstrar a adequação do paradigma dos mercados electrónicos baseados em agentes para transaccionar objectos multimédia em função do perfil dos espectadores. Esta dissertação descreve o projecto realizado no âmbito da plataforma de personalização de conteúdos em construção. O domínio de aplicação adoptado foi a personalização dos intervalos publicitários difundidos pelos distribuidores de conteúdos multimédia, i.e., pretende-se gerar em tempo útil o alinhamento de anúncios publicitários que melhor se adeqúe ao perfil de um espectador ou de um grupo de espectadores. O projecto focou-se no estudo e selecção das tecnologias de suporte, na concepção da arquitectura e no desenvolvimento de um protótipo que permitisse realizar diversas experiências nomeadamente com diferentes estratégias e tipos de mercado. A arquitectura proposta para a plataforma consiste num sistema multiagente organizado em três camadas que disponibiliza interfaces do tipo serviço Web com o exterior. A camada de topo é constituída por agentes de interface com o exterior. Na camada intermédia encontram-se os agentes autónomos que modelam as entidades produtoras e consumidoras de componentes multimédia assim como a entidade reguladora do mercado. Estes agentes registam-se num serviço de registo próprio onde especificam os componentes multimédia que pretendem negociar. Na camada inferior realiza-se o mercado que é constituído por agentes delegados dos agentes da camada superior. O lançamento do mercado é efectuado através de uma interface e consiste na escolha do tipo de mercado e no tipo de itens a negociar. Este projecto centrou-se na realização da camada do mercado e da parte da camada intermédia de apoio às actividades de negociação no mercado. A negociação é efectuada em relação ao preço da transmissão do anúncio no intervalo em preenchimento. Foram implementados diferentes perfis de negociação com tácticas, incrementos e limites de variação de preço distintos. Em termos de protocolos de negociação, adoptou-se uma variante do Iterated Contract Net – o Fixed Iterated Contract Net. O protótipo resultante foi testado e depurado com sucesso.