Motion Planning and Controls with Safety and Temporal Constraints

Motion planning, or trajectory planning, commonly refers to a process of converting high-level task specifications into low-level control commands that can be executed on the system of interest. For different applications, the system will be different. It can be an autonomous vehicle, an Unmanned Aerial Vehicle(UAV), a humanoid robot, or an industrial robotic arm. As human machine interaction is essential in many of these systems, safety is fundamental and crucial. Many of the applications also involve performing a task in an optimal manner within a given time constraint. Therefore, in this thesis, we focus on two aspects of the motion planning problem. One is the verification and synthesis of the safe controls for autonomous ground and air vehicles in collision avoidance scenarios. The other part focuses on the high-level planning for the autonomous vehicles with the timed temporal constraints. In the first aspect of our work, we first propose a verification method to prove the safety and robustness of a path planner and the path following controls based on reachable sets. We demonstrate the method on quadrotor and automobile applications. Secondly, we propose a reachable set based collision avoidance algorithm for UAVs. Instead of the traditional approaches of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem seeking control set design for the aircraft to avoid collision. We apply our approach to collision avoidance scenarios of quadrotors and fixed-wing aircraft. In the second aspect of our work, we address the high level planning problems with timed temporal logic constraints. Firstly, we present an optimization based method for path planning of a mobile robot subject to timed temporal constraints, in a dynamic environment. Temporal logic (TL) can address very complex task specifications such as safety, coverage, motion sequencing etc. We use metric temporal logic (MTL) to encode the task specifications with timing constraints. We then translate the MTL formulae into mixed integer linear constraints and solve the associated optimization problem using a mixed integer linear program solver. We have applied our approach on several case studies in complex dynamical environments subjected to timed temporal specifications. Secondly, we also present a timed automaton based method for planning under the given timed temporal logic specifications. We use metric interval temporal logic (MITL), a member of the MTL family, to represent the task specification, and provide a constructive way to generate a timed automaton and methods to look for accepting runs on the automaton to find an optimal motion (or path) sequence for the robot to complete the task.

Constraints to the efficacy of risk management process in entrepreneurial companies

This paper highlights potential factors that affect the degree of efficacy of a formal risk management framework in entrepreneurial organisations. The understanding of entrepreneur’s self-schemas, entrepreneurial organisational culture and working environment is crucial to evaluate the efficacy of a risk management process. This research pointed out two main issues: i) the entrepreneurial decision making process with presence of biases and heuristics in judgement under uncertainty; and ii) the entrepreneurial organisational context that might create constraints to the implementation of a risk management framework.

Essays on Financial Constraints, R&D Investments, and Competition

This dissertation consists of two chapters of theoretical studies that investigate the effect of financial constraints and market competition on research and development (R&D) investments. In the first chapter, I explore the impact of financial constraints on two different types of R&D investments. In the second chapter, I examine the impact of market competition on the relationship between financial constraints and R&D investments. In the first chapter, I develop a dynamic monopoly model to study a firm’s R&D strategy. Contrary to intuition, I show that a financially constrained firm may invest more aggressively in R&D projects than an unconstrained firm. Financial constraints introduce a risk that a firm may run out of money before its project bears fruit, which leads to involuntary termination on an otherwise positive-NPV project. For a company that relies on cash flow from assets in place to keep its R&D project alive, early success can be relatively important. I find that when the discovery process can be expedited by heavier investment (“accelerable” projects), a financially constrained company may find it optimal to “over”-invest in order to raise the probability of project survival. The over-investment will not happen if the project is only “scalable” (investment scales up payoffs). The model generates several testable implications regarding over-investment and project values. In the second chapter, I study the effects of competition on R&D investments in a duopoly framework. Using a homogeneous duopoly model where two unconstrained firms compete head to head in an R&D race, I find that competition has no effect on R&D investment if the project is not accelerable, and the competing firms are not constrained. In a heterogeneous duopoly model where a financially constrained firm competes against an unconstrained firm, I discover interesting strategic interactions that lead to preemption by the constrained firm in equilibrium. The unconstrained competitor responds to its constrained rival’s investment in an inverted-U shape fashion. When the constrained competitor has high cash flow risk, it accelerates the innovation in equilibrium, while the unconstrained firm invests less aggressively and waits for its rival to quit the race due to shortage of funds.

Household portfolio allocation, risk attitudes and credit constraints : evidence from the eurozone

Mestrado em Economia Monetária e Financeira

Robust solutions of bi-blend recipe optimization with quadratic constraints

Production companies use raw materials to compose end-products. They often make different products with the same raw materials. In this research, the focus lies on the production of two end-products consisting of (partly) the same raw materials as cheap as possible. Each of the products has its own demand and quality requirements consisting of quadratic constraints. The minimization of the costs, given the quadratic constraints is a global optimization problem, which can be difficult because of possible local optima. Therefore, the multi modal character of the (bi-) blend problem is investigated. Standard optimization packages (solvers) in Matlab and GAMS were tested on their ability to solve the problem. In total 20 test cases were generated and taken from literature to test solvers on their effectiveness and efficiency to solve the problem. The research also gives insight in adjusting the quadratic constraints of the problem in order to make a robust problem formulation of the bi-blend problem.

O Hoshin Kanri como instrumento de alinhamento estratégico : Estudo de caso : Serviços sociais da Guarda Nacional Republicana

O presente trabalho de investigação aplicado é subordinado à área de conhecimento de Gestão Estratégica e intitulado “O Hoshin Kanri como Instrumento de Alinhamento Estratégico. Estudo de Caso: Serviços Sociais da Guarda Nacional Republicana”. Apesar de se tratar de um modelo bastante recente, sem exploração académica ou exemplos de aplicação em outras instituições de natureza pública, identificamos de forma prévia o modo como o Hoshin Kanri, quando em complemento do Balanced Scorecard, pode contribuir para potenciar a gestão organizacional e, numa segunda fase, perspetivar a sua aplicação aos Serviços Sociais da Guarda Nacional Republicana. Na investigação que conduzimos, utilizámos o método hipotético-dedutivo e o método inquisitivo, tivemos em conta três fases distintas, embora complementares: exploratória, analítica e conclusiva. Ao longo destas fases, recorreu-se à análise documental, entrevistas, inquéritos por questionários na recolha e análise de informação. Desta forma, verificou-se que as chefias de topo dos Serviços Sociais da Guarda Nacional Republicana vêm uma oportunidade na implementação do Hoshin Kanri, enquanto modelo com grandes potencialidades que permite o desdobramento da estratégia conceptualizada pelo Balanced Scorecard e, consequentemente, um alinhamento mais estreito entre os vários níveis de gestão, privilegiando o acompanhamento e controlo necessário à adoção atempada de medidas corretivas. O estudo realizado permitiu ainda perceber que a sua implementação depende essencialmente da dinâmica interna daquele Serviço e não de condicionantes externas, o que constitui um indicador bastante positivo se considerarmos a sua introdução prioritária. Resulta da simbiose entre o Balanced Scorecard e o Hoshin Kanri a definição da rota estratégica e a sua execução prática, o que permite perspetivar uma melhoria dos resultados alcançados. Desta interação e complementaridade poderá advir a necessidade de ajustamento ou revisão da estratégia organizacional alavancando a performance institucional. Nesse desiderato, construímos e apresentamos um modelo conceptual resultante da aplicação do Balanced Scorecard e do Hoshin Kanri à realidade da Instituição.

A Review of the Arcuate Structures in the Iberian Variscides; Constraints and Genetical Models

In the Iberian Variscides several first order arcuate structures have been considered. In spite of being highly studied their characterization, formation mechanisms and even existence is still debatable. Themain Ibero-Armorican Arc (IAA) is essentially defined by a predominantNW–SE trend in the Iberian branch and an E–Wtrend in the Brittany one. However, in northern Spain it presents a 180° rotation, sometimes known as the Cantabrian Arc (CA). The relation between both arcs is controversial, being considered either as a single arc due to one tectonic event, or as the result of a polyphasic process. According to the last assumption, there is a later arcuate structure (CA), overlapping a previousmajor one (IAA). Whatever themodels, they must be able to explain the presence of a Variscan sinistral transpression in Iberia and a dextral one in Armorica, and a deformation spanning from the Devonian to the Upper Carboniferous. Another arcuate structure, in continuity with the CA, the Central-Iberian Arc (CIA) was recently proposed mainly based upon on magnetic anomalies, geometry of major folds and Ordovician paleocurrents. The critical review of the structural, stratigraphic and geophysical data supports both the IAA and the CA, but as independent structures. However, the presence of a CIA is highly questionable and could not be supported. The complex strain pattern of the IAA and the CA could be explained by a Devonian — Carboniferous polyphasic indentation of a Gondwana promontory. In thismodel the CA is essentially a thin-skinned arc,while the IAA has a more complex and longer evolution that has led to a thick-skinned first order structure. Nevertheless, both arcs are essentially the result of a lithospheric bending process during the Iberian Variscides.

The 1998-2001 submarine lava balloon eruption at the Serreta Ridge (Azores archipelago): constraints from volcanic facies architecture, isotope geochemistry and magnetic data

The most recent submarine eruption observed offshore the Azores archipelago occurred between 1998-2001 along the submarine Serreta ridge (SSR), ~4-5 nautical miles WNW of Terceira Island. This submarine eruption delivered abundant basaltic lava balloons floating at the sea surface and significantly changed the bathymetry around the eruption area. Our work combines bathymetry, volcanic facies cartography, petrography, rock magnetism and geochemistry in order to (1) track the possible vent source at seabed, (2) better constrain the Azores magma source(s) sampled through the Serreta submarine volcanic event, and (3) interpret the data within the small-scale mantle source heterogeneity framework that has been demonstrated for the Azores archipelago. Lava balloons sampled at sea surface display a radiogenic signature, which is also correlated with relatively primitive (low) 4He/3He isotopic ratios. Conversely, SSR lavas are characterized by significantly lower radiogenic 87Sr/86Sr, 206Pb/204Pb and 208Pb/204Pb ratios than the lava balloons and the onshore lavas from the Terceira Island. SSR lavas are primitive, but incompatible trace-enriched. Apparent decoupling between the enriched incompatible trace element abundances and depleted radiogenic isotope ratios is best explained by binary mixing of a depleted MORB source and a HIMU­type component into magma batches that evolved by similar shallower processes in their travel to the surface. The collected data suggest that the freshest samples collected in the SSR may correspond to volcanic products of an unnoticed and more recent eruption than the 1998-2001 episode.

DNA barcoding: an effective tool to overcome morphological identification constraints in the assessment of the ecological quality

DNA barcoding has the potential to overcome taxonomic challenges in biological community assessments. However, fulfilling that potential requires successful amplification of a large and unbiased portion of the community. In this study, we attempted to identify mitochondrial gene cytochrome c oxidase I (COI) barcodes from 1024 benthic invertebrate specimens belonging to 54 taxa from low salinity environments of the Mira estuary and Torgal riverside (SW Portugal). Up to 17 primer pairs and several reaction conditions were attempted among specimens from all taxa, with amplification success defined as a single band of approximately 658 bp visualized on a pre-cast agarose gel, starting near the 5' end of the COI gene and suitable for sequencing. Amplification success was achieved for 99.6% of the 54 taxa, though no single primer was successful for more than 88.9% of the taxa. However, only 68.5% of the specimens within these taxa successfully amplified. Inhibition factors resulting from a non-purified DNA extracted and inexistence of species-specific primers for COI were pointed as the main reasons for an unsuccessful amplification. These results suggest that DNA barcoding can be an effective tool for application in low salinity environments where taxa such as chironomids and oligochaetes are challenging for morphological identification. Nevertheless, its implementation is not simple, as methods are still being standardized and multiple species

Evidence formulti-cycle sedimentation and provenance constraints from

Laser ablation ICP-MS U–Pb analyses were conducted on detrital zircons of Triassic sandstone and conglomerate from the Lusitanian basin in order to: i) document the age spectra of detrital zircon; ii) compare U–Pb detrital zircon ages with previous published data obtained from Upper Carboniferous, Ordovician, Cambrian and Ediacaran sedimentary rocks of the pre-Mesozoic basement of western Iberia; iii) discuss potential sources; and iv) test the hypothesis of sedimentary recycling. U–Pb dating of zircons established a maximum depositional age for this deposit as Permian (ca. 296Ma),which is about sixty million years older compared to the fossil content recognized in previous studies (Upper Triassic). The distribution of detrital zircon ages obtained points to common source areas: the Ossa–Morena and Central Iberian zones that outcrop in and close to the Porto–Tomar fault zone. The high degree of immaturity and evidence of little transport of the Triassic sediment suggests that granite may constitute primary crystalline sources. The Carboniferous age of ca. 330 Ma for the best estimate of crystallization for a granite pebble in a Triassic conglomerate and the Permian–Carboniferous ages (ca. 315Ma) found in detrital zircons provide evidence of the denudation of Variscan and Cimmerian granites during the infilling of continental rift basins in western Iberia. The zircon age spectra found in Triassic strata are also the result of recycling from the Upper Carboniferous Buçaco basin,which probably acted as an intermediate sediment repository.U–Pb data in this study suggest that the detritus from the Triassic sandstone and conglomerate of the Lusitanian basin is derived fromlocal source areas with features typical of Gondwana,with no sediment from external sources from Laurussia or southwestern Iberia.

Towards a Multi-device Constraints Solver

To reduce the amount of time needed to solve the most complex Constraint Satisfaction Problems (CSPs) usually multi-core CPUs are used. There are already many applications capable of harnessing the parallel power of these devices to speed up the CSPs solving process. Nowadays, the Graphics Processing Units (GPUs) possess a level of parallelism that surpass the CPUs, containing from a few hundred to a few thousand cores and there are much less applications capable of solving CSPs on GPUs, leaving space for possible improvements. This article describes the work in progress for solving CSPs on GPUs and CPUs and compares results with some state-of-the-art solvers, presenting already some good results on GPUs.

Mineral paragenesis and fluid inclusion constraints on the Torre di Rio skarn, Island of Elba

The historical iron ore deposits of eastern Elba held great importance for the region and were its primary source of iron. The Torre di Rio skarn, despite its easily accessible outcrop and vicinity to the larger Rio Marina deposit, was never properly characterized. The results of petrographic and microthermometric study presented in this work provide new constraints on the Torre di Rio skarn. Mineral assemblage of ilvaite, calcite, quartz, iron oxides and sulphides combined with textural evidence indicate that Torre di Rio skarn does not fit into classical skarn model. The complex paragenetic sequence and overlapping of skarn and ore mineralogy is result of fast formation at relatively low temperatures evidenced by the silicon enrichment and pervasive nature of limonite alteration. Hematite-magnetite textural relationship points to boundary conditions of the ore fluid in terms of oxygen fugacity. Eutectic temperatures range from -16 to -33 °C indicating complex fluids. Calculated salinities range from 1.4 to 17.4 wt% NaCleq suggesting multiple fluids of different compositions. Total homogenization temperatures vary from 330 °C to 150 °C with both homogeneously and heterogeneously trapped FIAs. Ore deposition is concentrated where skarn formation was controlled primarily by phase separation during boiling. Calculated fluid pressure at boiling suggest shallow formation depth of a few hundred meters and constrains maximum temperature of ore deposition to c. 260 °C. This work suggest that relatively low salinities of fluid inclusions could indicate dominant marine origin of the hydrothermal fluids that were activated by the Porto Azzurro pluton emplacement and that scavenged Fe from sedimentary host rocks. During boiling at shallow depths and decreasing iron solubility, these fluids started precipitating Fe-minerals at Torre di Rio mineralization. Mixing with batches of more saline fluids at around 236 °C increased salinity abruptly and marked the end of ore deposition.

Constraints on the duty cycle of the remnant radio galaxy NGC 6086 in the galaxy group Abell 2162

Galaxy clusters and groups are the most massive bounded structures and the knots of the large-scale structure of the Universe. These structures reside in dark matter haloes, hosting tens to hundreds of galaxies and they are filled with hot and rarefied gas. Radio Galaxies are a peculiar class of galaxies with a luminosity in the radio band up to 10^46 erg/s between 10 MHz and 100 GHz. These galaxies are a subclass of AGN in which there is accretion on the Super Massive Black Hole. The accretion generates jets of relativistic particles and magnetic fields which lose energy through synchrotron radiation, best observable at radio frequencies. The study of the spectral ageing of the AGN plasma is fundamental to understand its evolution, interaction with the environment and to constrain the AGN duty cycle. n this thesis, we have investigated the duty cycle of the nearby remnant radio galaxy NGC 6086, located in the centre of the galaxy group Abell 2162. We have made major steps forward thanks to the new high-sensitivity interferometers in the low-frequency radio band. We have detected for the first time three filaments of emission and a second couple of lobes. We have performed an integrated and resolved analysis on the previously known inner lobes, the new filaments and the older outer lobes. We have performed an age estimate of the two pairs of lobes to give constraints on the duty cycle of the source and an estimate of its active time.

Genetic Aspects Of Athletic Performance: The African Runners Phenomenon.

The current dominance of African runners in long-distance running is an intriguing phenomenon that highlights the close relationship between genetics and physical performance. Many factors in the interesting interaction between genotype and phenotype (eg, high cardiorespiratory fitness, higher hemoglobin concentration, good metabolic efficiency, muscle fiber composition, enzyme profile, diet, altitude training, and psychological aspects) have been proposed in the attempt to explain the extraordinary success of these runners. Increasing evidence shows that genetics may be a determining factor in physical and athletic performance. But, could this also be true for African long-distance runners? Based on this question, this brief review proposed the role of genetic factors (mitochondrial deoxyribonucleic acid, the Y chromosome, and the angiotensin-converting enzyme and the alpha-actinin-3 genes) in the amazing athletic performance observed in African runners, especially the Kenyans and Ethiopians, despite their environmental constraints.

Possible Unconventional Superconductivity In Substituted Bafe2as2 Revealed By Magnetic Pair-breaking Studies.

The possible existence of a sign-changing gap symmetry in BaFe2As2-derived superconductors (SC) has been an exciting topic of research in the last few years. To further investigate this subject we combine Electron Spin Resonance (ESR) and pressure-dependent transport measurements to investigate magnetic pair-breaking effects on BaFe1.9M0.1As2 (M = Mn, Co, Cu, and Ni) single crystals. An ESR signal, indicative of the presence of localized magnetic moments, is observed only for M = Cu and Mn compounds, which display very low SC transition temperature (Tc) and no SC, respectively. From the ESR analysis assuming the absence of bottleneck effects, the microscopic parameters are extracted to show that this reduction of Tc cannot be accounted by the Abrikosov-Gorkov pair-breaking expression for a sign-preserving gap function. Our results reveal an unconventional spin- and pressure-dependent pair-breaking effect and impose strong constraints on the pairing symmetry of these materials.