System Modeling and Control Through Fractional-Order Algorithms

The theory of fractional calculus goes back to the beginning of thr throry of differential calculus but its inherent complexity postponed the applications of the associated concepts. In the last decade the progress in the areas of chaos and fractals revealed subtle relationships with the fractional calculus leading to an increasing interest in the development of the new paradigm. In the area of automaticcontrol preliminary work has already been carried out but the proposed algorithms are restricted to the frequency domain. The paper discusses the design of fractional-order discrete-time controllers. The algorithms studied adopt the time domein, which makes them suited for z-transform analusis and discrete-time implementation. The performance of discrete-time fractional-order controllers with linear and non-linear systems is also investigated.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

The International Multilateral System: Imperatives of Change, Potential Scenarios and Suggestions for the Future

Thesis presented to satisfy the necessary requirements for obtaining a PhD degree in International Relation with specialization in Globalization and the Environment,

Groundtruth system for underwater benchmarking

Oceans - San Diego, 2013

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Structured Light System Calibration for Perception in Underwater Tanks

The process of visually exploring underwater environments is still a complex problem. Underwater vision systems require complementary means of sensor information to help overcome water disturbances. This work proposes the development of calibration methods for a structured light based system consisting on a camera and a laser with a line beam. Two different calibration procedures that require only two images from different viewpoints were developed and tested in dry and underwater environments. Results obtained show, an accurate calibration for the camera/projector pair with errors close to 1 mm even in the presence of a small stereos baseline.

Structured Light System for Underwater Inspection Operations

In this work we propose the development of a stereo SLS system for underwater inspection operations. We demonstrate how to perform a SLS calibration both in dry and underwater environments using two different methods. The proposed methodology is able to achieve quite accurate results, lower than 1 mm in dry environments. We also display a 3D underwater scan of a known object size, a sea scallop, where the system is able to perform a scan with a global error lower than 2% of the object size.

ISO 9001:2015, Uma Oportunidade para o Reajustamento das Empresas no Sector Metalúrgico Metalomecânico

O pretexto da implementação de um Sistema de Gestão da Qualidade numa empresa de produção de fundos copados, constitui pretexto para provocar uma análise mais profunda e fundamentada do tema e objetivo para este projeto. Entender um conceito tão subjetivo como o de qualidade afigura-se como necessidade primária para o início da reflexão. Percorremos em seguida a história do conceito desde a Europa Medieval até à revolução na qualidade que acabaria por acontecer no Japão após a II Guerra Mundial. A qualidade como a entendemos hoje deve-se ainda a contributos de personalidades que identificaram vários métodos que surgiram ao longo do tempo e que foram melhorando o conceito, de entre as quais se referem três: William Deming, Joseph Moses Juran e Philip B. Crosby. Em seguida reflete-se acerca do impacto real da implementação da ISO 9000, recorrendo ao estudo de Olivier Boiral, que fornece uma aproximação bastante real dos benefícios da implementação de sistemas de gestão da qualidade. Ainda no segundo capítulo analisamos a importância do processo de certificação, concluindo que a tarefa extra de uma organização externa certificar o SGQ constitui indubitavelmente uma forma de manter o sistema rigoroso e disciplinado. No terceiro capítulo, “ISO 9001:2008 VERSUS ISO 9001:2015”, analisamos em detalhe as principais alterações da futura norma ISO 9001:2015 relativamente à iISO 9001:2008: introdução do “pensamento baseado no risco”; enfase dado à abordagem por processos; enfase dado à “gestão da mudança”; “gestão do conhecimento”; “direção estratégica”, integrando os sistemas de gestão e da qualidade; a determinação de que todas as normas que integram um sistema de gestão seguirão um novo formato, chamado “high-level structure” como definido no Anexo SL; e enfase ainda dado à consideração do feedback de todos os processos e stakeholders envolvidos. Seguidamente, no capítulo “Apresentação da “Empresa Lda””, apresenta-se a empresa alvo deste caso de estudo, uma indústria metalomecânica que fabrica fundos copados para o mercado nacional e internacional. Analisadas as principais alterações entre a atual e a futura norma, no capítulo “SGQ Proposto Assente na Futura Norma ISO 9001:2015” propõem-se alterações ao sistema já implementado anteriormente com base na aceitação da futura ISO 9001:2015 e alterações que esta prevê. Os processos e procedimentos que representem mais tempo e custo serão 6 identificados, assim como aqueles que poderão ser mais rapidamente adaptados para que o SGQ seja assim otimizado e mais adaptado aos recursos disponíveis. Para esta reflexão e desenvolvimento de uma nova estratégia recorre-se a vários instrumentos: estabelecem-se objetivos, efectua-se a análise SWOT, uma análise FMEA, a Análise de Gestão do Conhecimento e finalmente a Análise das Partes Interessadas. Em conjunto com as propostas de ações referidas nas análises anteriores descrevem-se de seguida as propostas de ação de intervenção nos fluxogramas. Os processos e procedimentos que aqui se destacam são aqueles que se consideram poderem constituir impacto eficaz e que vão ao encontro daquilo que é proposto na nova norma ISO 9001:2015, tendo em conta as principais alterações vistas anteriormente.

NONIUS.TV na SMART TV LG PRO: Centric

A Smart TV é um equipamento novo e em evolução que incorpora um computador e acesso à Internet em ecrãs de grande qualidade. Permite a implementação de serviços interactivos, acesso à Internet e televisão. À medida que a tecnologia melhora, muitos equipamentos estão a tornar-se tão capazes quanto os computadores normais quando se trata de navegação na web e até mesmo vídeo na Internet (Video-on-Demand e streaming de vídeo). O projecto de estágio “NONIUS.TV na Smart TV LG Pro:Centric” foi desenvolvido na empresa Nonius Software que está inserida no ramo das telecomunicações. Uma das suas áreas de actividade está relacionada com o desenvolvimento de plataformas de entretenimento para o mercado hoteleiro, combinando diversos serviços e funcionalidades a pensar no hóspede. Este projecto teve como finalidade implementar alguns dos serviços e funcionalidades já existentes em plataformas que usam uma Set-Top Box da Nonius Software, numa Smart TV, aproveitando também para inovar e criar novos serviços. Nesse conjunto está incluída a implementação de uma Caixa de Mensagens, Serviço de Quartos, Serviço de Desporto e Lazer, Serviços Informativos, um cliente RTSP, um despertador, um sistema de mudança de idioma e outras pequenas funcionalidades desenvolvidas ao longo de toda a aplicação. Esta dissertação apresenta um estudo sobre as tecnologias Smart TV existentes no mercado, assim como as vantagens e desvantagens da sua utilização para este projecto. Após uma análise de requisitos de forma a estruturar e desenhar os serviços e funcionalidades a serem criados para a aplicação, implementou-se um conjunto de serviços, usando a linguagem de programação ActionScript 2.0, que permitiram à empresa disponibilizar um novo produto baseado na televisão Pro:Centric da LG.

Myoelectric Signal Monitoring System

The Electromyography (EMG) is an important tool for gait analyzes and disorders diagnoses. Traditional methods involve equipment that can disturb the analyses, being gradually substituted by different approaches, like wearable and wireless systems. The cable replacement for autonomous systems demands for technologies capable of meeting the power constraints. This work presents the development of an EMG and kinematic data capture wireless module, designed taking into account power consumption issues. This module captures and converts the analog myoeletric signal to digital, synchronously with the capture of kinetic information. Both data are time multiplexed and sent to a PC via Bluetooth link. The work carried out comprised the development of the hardware, the firmware and a graphical interface running in an external PC. The hardware was developed using the PIC18F14K22, a low power family of microcontrollers. The link was established via Bluetooth, a protocol designed for low power communication. An application was also developed to recover and trace the signal to a Graphic User Interface (GUI), coordinating the message exchange with the firmware. Results were obtained which allowed validating the conceived system in static and with the subject performing short movements. Although it was not possible to perform the tests within more dynamic movements, it is shown that it is possible to capture, transmit and display the captured data as expected. Some suggestions to improve the system performance also were made.

In vitro and in situ activation of the complement system by the fungus Lacazia loboi

Since there are no studies evaluating the participation of the complement system (CS) in Jorge Lobo's disease and its activity on the fungus Lacazia loboi, we carried out the present investigation. Fungal cells with a viability index of 48% were obtained from the footpads of BALB/c mice and incubated with a pool of inactivated serum from patients with the mycosis or with sterile saline for 30 min at 37 ºC. Next, the tubes were incubated for 2 h with a pool of noninactivated AB+ serum, inactivated serum, serum diluted in EGTA-MgCl2, and serum diluted in EDTA. The viability of L. loboi was evaluated and the fungal suspension was cytocentrifuged. The slides were submitted to immunofluorescence staining using human anti-C3 antibody. The results revealed that 98% of the fungi activated the CS by the alternative pathway and no significant difference in L. loboi viability was observed after CS activation. In parallel, frozen histological sections from 11 patients were analyzed regarding the presence of C3 and IgG by immunofluorescence staining. C3 and IgG deposits were observed in the fungal wall of 100% and 91% of the lesions evaluated, respectively. The results suggest that the CS and immunoglobulins may contribute to the defense mechanisms of the host against L. loboi.

Developing an aquaponics system to learn sustainability and social compromise skills

The goal of this project, one of the proposals of the EPS@ISEP Spring 2014, was to develop an Aquaponics System. Over recent years Aquaponics systems have received increased attention since they contribute to reduce the strain on resources within 1st and 3rd world countries. Aquaponics is the combination of Hydroponics and Aquaculture, mimicking a natural environment in order to successfully apply and enhance the understanding of natural cycles within an indoor process. Using this knowledge of natural cycles, it was possible to create a system with capabilities similar to that of a natural environment with the support of electronics, enhancing the overall efficiency of the system. The multinational team involved in the development of this system was composed of five students from five countries and fields of study. This paper describes their solution, including the overall design, the technology involved and the benefits it can bring to the current market. The team was able to design and render the Computer Aided Design (CAD) drawings of the prototype, assemble all components, successfully test the electronics and comply with the budget. Furthermore, the designed solution was supported by a product sustainability study and included a specific marketing plan. Last but not least, the students enrolled in this project obtained new multidisciplinary knowledge and increased their team work and cross-cultural communication skills.

A Clinical Support System Based on Quality of Life Estimation

Quality of life is a concept influenced by social, economic, psychological, spiritual or medical state factors. More specifically, the perceived quality of an individual's daily life is an assessment of their well-being or lack of it. In this context, information technologies may help on the management of services for healthcare of chronic patients such as estimating the patient quality of life and helping the medical staff to take appropriate measures to increase each patient quality of life. This paper describes a Quality of Life estimation system developed using information technologies and the application of data mining algorithms to access the information of clinical data of patients with cancer from Otorhinolaryngology and Head and Neck services of an oncology institution. The system was evaluated with a sample composed of 3013 patients. The results achieved show that there are variables that may be significant predictors for the Quality of Life of the patient: years of smoking (p value 0.049) and size of the tumor (p value < 0.001). In order to assign the variables to the classification of the quality of life the best accuracy was obtained by applying the John Platt's sequential minimal optimization algorithm for training a support vector classifier. In conclusion data mining techniques allow having access to patients additional information helping the physicians to be able to know the quality of life and produce a well-informed clinical decision.

Municipal solid waste management system: decision support through systems analysis

Thesis submitted to the Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia for the degree of Doctor of Philosophy in Environmental Engineering