A robótica educativa no ensino e aprendizagem de conceitos de programação e algoritmos

Relatório da Prática de Ensino Supervisionada, Ensino de Informática, Universidade de Lisboa, 2013

Factors Involved in the Phenological Mechanism of Alnus Flowering in Central Europe

The objectives of this paper are to ascertain the main factors involved in the phenological mechanism of alder flowering in Central Europe by understanding the in - fluence of the main meteorological parameters, the North Atlantic Oscillation (NAO) effect and the study of the Chill and Heat requirements to overcome dormancy. Airborne pollen (1995–2007) was collected in Poznań (Poland) by means a volumetric spore trap. Temperatures for February, and January and February averages of the NAO are generally key factors affecting the timing of the alder pollen seasons. Chilling accumulation (which started in Poznań at the beginning of November, while the end took place during the month of January) of 985 CH with a threshold temperature of -0.25ºC, followed by 118 GDDºC with a threshold temperature of 0.5ºC, were necessary to overcome dormancy and produce the onset of flowering. The calculated dormancy requirements, mean tem - peratures of the four decades of the year, and January and February average NAO index recorded during the period before flowering, were used to construct linear and multiple regression models in order to forecast the start date of the alder pollen seasons Its ac - curacy was tested using data from 2007, and the difference between the predicted and observed dates ranged from 3–7 days

High temperature vapour-liquid equilibria of water-polyalcohol mixtures

Tese de doutoramento, Química (Química Tecnológica), Universidade de Lisboa, Faculdade de Ciências, 2014

Evaluation of nonlinear distortion in MIMO transmitters

In this paper, an evaluation of unwanted effects in Multiple Input Multiple Output (MIMO) transmitters is described. Complete 2×2 and 4×4 MIMO Orthogonal Frequency Division Multiplex (OFDM) transmitters are simulated for the purpose of quantifying all potential unwanted effects such as Power Amplifiers' (PAs) nonlinearity, linear and nonlinear crosstalk, and IQ modulator imperfections. An experimental analysis of a 2×2 MIMO transmitter using two-tones and WCDMA signal is presented.

Simulated annealing metaheuristic to solve the optimal power flow

The optimal power flow problem has been widely studied in order to improve power systems operation and planning. For real power systems, the problem is formulated as a non-linear and as a large combinatorial problem. The first approaches used to solve this problem were based on mathematical methods which required huge computational efforts. Lately, artificial intelligence techniques, such as metaheuristics based on biological processes, were adopted. Metaheuristics require lower computational resources, which is a clear advantage for addressing the problem in large power systems. This paper proposes a methodology to solve optimal power flow on economic dispatch context using a Simulated Annealing algorithm inspired on the cooling temperature process seen in metallurgy. The main contribution of the proposed method is the specific neighborhood generation according to the optimal power flow problem characteristics. The proposed methodology has been tested with IEEE 6 bus and 30 bus networks. The obtained results are compared with other wellknown methodologies presented in the literature, showing the effectiveness of the proposed method.

Ant colony search algorithm for the optimal power flow problem

To maintain a power system within operation limits, a level ahead planning it is necessary to apply competitive techniques to solve the optimal power flow (OPF). OPF is a non-linear and a large combinatorial problem. The Ant Colony Search (ACS) optimization algorithm is inspired by the organized natural movement of real ants and has been successfully applied to different large combinatorial optimization problems. This paper presents an implementation of Ant Colony optimization to solve the OPF in an economic dispatch context. The proposed methodology has been developed to be used for maintenance and repairing planning with 48 to 24 hours antecipation. The main advantage of this method is its low execution time that allows the use of OPF when a large set of scenarios has to be analyzed. The paper includes a case study using the IEEE 30 bus network. The results are compared with other well-known methodologies presented in the literature.

Solving a signalized traffic intersection problem with an hyperbolic penalty function

Mathematical Program with Complementarity Constraints (MPCC) finds many applications in fields such as engineering design, economic equilibrium and mathematical programming theory itself. A queueing system model resulting from a single signalized intersection regulated by pre-timed control in traffic network is considered. The model is formulated as an MPCC problem. A MATLAB implementation based on an hyperbolic penalty function is used to solve this practical problem, computing the total average waiting time of the vehicles in all queues and the green split allocation. The problem was codified in AMPL.

A capacidade de subitizing em crianças de 4 anos

Dissertação apresentada à escola Superior de Educação de Lisboa para obtenção de grau de mestre em Educação Matemática na Educação Pré-Escolar e nos 1º e 2º Ciclos do Ensino Básico

Optimal controllers with complex order derivatives

This paper studies the optimization of complex-order algorithms for the discrete-time control of linear and nonlinear systems. The fundamentals of fractional systems and genetic algorithms are introduced. Based on these concepts, complexorder control schemes and their implementation are evaluated in the perspective of evolutionary optimization. The results demonstrate not only that complex-order derivatives constitute a valuable alternative for deriving control algorithms, but also the feasibility of the adopted optimization strategy.

Application of computational intelligence to engineering

Computational Intelligence (CI) includes four main areas: Evolutionary Computation (genetic algorithms and genetic programming), Swarm Intelligence, Fuzzy Systems and Neural Networks. This article shows how CI techniques overpass the strict limits of Artificial Intelligence field and can help solving real problems from distinct engineering areas: Mechanical, Computer Science and Electrical Engineering.

Optimal tuning of fractional controllers using genetic algorithms

This study addresses the optimization of fractional algorithms for the discrete-time control of linear and non-linear systems. The paper starts by analyzing the fundamentals of fractional control systems and genetic algorithms. In a second phase the paper evaluates the problem in an optimization perspective. The results demonstrate the feasibility of the evolutionary strategy and the adaptability to distinct types of systems.

Desenvolvimento de programação offline e de novos processos robotizados de lixamento

Atualmente a vantagem competitiva de uma empresa passa pela sua rápida adaptação às variações de procura do mercado, sendo necessário garantir elevados níveis de produtividade e, simultaneamente, grande flexibilidade, indispensável ao fabrico de pequenos lotes. A necessidade de ajuste do processo e a diminuição da média de vida do produto levam a paragens cada vez mais frequentes da célula de fabrico para programação e afinação, com consequentes perdas de produtividade. De forma a dar resposta a estes problemas, neste trabalho é testada a viabilidade da utilização da programação e simulação offline de tarefas de lixamento na Grohe Portugal, complementando a solução com o desenvolvimento de um novo método de afinação do programa, permitindo uma adaptação às flutuações do processo produtivo. Para isso foi necessário analisar o estado da arte dos robôs industriais na área de acabamento superficial e respetivos métodos de programação. Em seguida, após um trabalho prévio rigoroso de preparação e modelação da célula de trabalho, é possível fazer a programação offline das várias rotinas e trajetórias complexas que compõem um ciclo de lixamento de um produto, contribuindo para o aumento da qualidade do produto final sem comprometer os níveis de produtividade. Nesta dissertação são descritos e detalhados alguns dos procedimentos fulcrais no sucesso da aplicação deste método de programação. Por último é feita uma nova abordagem ao método de ajuste ponto-a-ponto convencional, desenvolvendo-se para isso um sistema de ajuste automático do programa, dotando o robô da capacidade de se adaptar às variações do processo, assegurando a consistência do mesmo. Foram realizados testes em pequena escala, extrapolando-se os resultados para a aplicação deste novo método no processo produtivo da Grohe Portugal, como forma de complemento ao método convencional de ajuste ponto-a-ponto do programa, reduzindo o tempo de paragem da célula de trabalho.

Probabilistic Stereo Egomotion Transform

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

Visualizing control systems performance: A fractional perspective

This article presents a novel method for visualizing the control systems behavior. The proposed scheme uses the tools of fractional calculus and computes the signals propagating within the system structure as a time/frequency-space wave. Linear and nonlinear closed-loop control systems are analyzed, for both the time and frequency responses, under the action of a reference step input signal. Several nonlinearities, namely, Coulomb friction and backlash, are also tested. The numerical experiments demonstrate the feasibility of the proposed methodology as a visualization tool and motivate its extension for other systems and classes of nonlinearities.

Proposta de modelo para obtenção do Work Index das rochas

Este trabalho pretende estabelecer uma relação entre o Work Index e algumas propriedades das rochas. Através da pesquisa bibliográfica foram identificadas varias propriedades com possível influência no valor do Work Index, das quais foram seleccionadas a massa volúmica aparente, a resistência à carga pontual, a composição química, a composição mineralógica e a abrasividade. Adicionalmente a porosidade aberta e resistência à compressão também foram analisadas. Assim foram analisadas 10 amostras de rocha, quatro de granitos, uma de quartzodiorito, uma de ardósia, uma de serpentinito, uma de calcário, uma de mármore e uma de sienito nefelínico, sobre as quais já eram conhecidos os valores de cinco das propriedades referidas previamente, tendo sido determinados os valores das ainda desconhecidas, resistência à carga pontual e a abrasividade que está representada através do resultado do ensaio capon. Devido à dificuldade de execução do ensaio de determinação do Work Index de Bond foram recolhidos dados bibliográficos de valores do Work Index para as amostras de rocha seleccionadas e adoptado o valor médio para cada uma. Os dados obtidos foram tratados estatisticamente através do método de análise de componentes principais assim como através de regressões lineares simples e múltiplas. A análise de componentes principais permitiu identificar várias propriedades da rocha com possível influência sobre o Work Index de entre as analisadas. Foi possível estabelecer uma relação entre o Work Index e quatro das propriedades seleccionadas, designadamente a porosidade aberta, a resistência à compressão, a resistência à carga pontual e a abrasividade.