Control and Localisation for the ISePorto Robotic Soccer Team

International Conference on Advanced Robotics, Coimbra, Portugal, Julho 2003

Ball Sensing in a Leg Like Robotic Kicker

The trend to have more cooperative play and the increase of game dynamics in Robocup MSL League motivates the improvement of skills for ball passing and reception. Currently the majority of the MSL teams uses ball handling devices with rollers to have more precise kicks but limiting the capability to kick a moving ball without stopping it and grabbing it. This paper addresses the problem to receive and kick a fast moving ball without having to grab it with a roller based ball handling device. Here, the main difficulty is the high latency and low rate of the measurements of the ball sensing systems, based in vision or laser scanner sensors.Our robots use a geared leg coupled to a motor that acts simultaneously as the kicking device and low level ball sensor. This paper proposes a new method to improve the capability for ball sensing in the kicker, by combining high rate measurements from the torque and energy in the motor and angular position of the kicker leg. The developed method endows the kicker device with an effective ball detection ability, validated in several game situations like in an interception to a fast pass or when chasing the ball where the relative speed from robot to ball is low. This can be used to optimize the kick instant or by the embedded kicker control system to absorb the ball energy.

La littérature selon Roland Barthes

Para obter o Grau de Mestre em Tradução e Interpretação Especializadas apresento este projecto de tradução do ensaio de Vincent Jouve “La Littérature selon Roland Barthes” e análise crítica das dificuldades tradutórias encontradas. Para a tradutora é uma actividade inovadora e aliciante. A selecção da obra reveste-se de argumentos tanto pessoais como profissionais sendo particularmente oportuna, pois coincide com o centenário de nascimento de Barthes. Roland Barthes é um autor rico, complexo e desconcertante que, embora pouco estudado à época, levanta emoções extremas: adorado por uns e detestado por outros. O ensaio de Vincent Jouve reflecte essa riqueza quer de forma quer de conteúdo. Participar na divulgação, mesmo que só académica, destes autores é muito gratificante. O ensaio literário tem características próprias, que o tornam semelhante a uma manifestação artística, privilegia-se o sentido traduzindo a obra sem recorrer a progamas de tradução. Este relatório é composto por três partes fundamentais: a preparação prévia, a tradução e a análise das dificuldades. O apêndice é constituido pela obra traduzida e pelos capítulos analizados (I e IV), en Francês.

Three transducers for one photodetector: essays for optical communications

Dissertation presented to obtain the PhD degree in Electrical and Computer Engineering - Electronics

Design of switched-capacitor filters using low gain amplifiers

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Desenvolvimento de sistemas automáticos de alimentação e descarga de injectora de plásticos

A indústria de componentes para automóveis necessita de constante inovação, no sentido de manter a elevada competitividade, imprescindível à sobrevivência de qualquer empresa neste sector. A automação e robótica são vias incontornáveis para a prossecução dos objetivos de produtividade desejados. Mesmo dentro da automação, a evolução é constante. Para além disso, a crescente inovação nos produtos fabricados, exige também novas soluções em termos de processos de fabrico. Isto leva a que, soluções válidas até uma determinada altura, passem facilmente a obsoletas, com necessidade premente de se implementarem novos sistemas que correspondam às necessidades atuais. Este trabalho teve por base uma necessidade detetada numa empresa fabricante de acessórios para a indústria automóvel: estruturas para estofo de assento automóvel, entre muitos outros. Atualmente, a estrutura do estofo automóvel assenta numa grelha constituída por um conjunto de arames, que é agregado por uma série de tiras de plástico injetadas em seu redor. As máquinas de injeção responsáveis por este processo têm superfície de apartação horizontal, e necessitam de mão-de-obra adjacente para a colocação dos arames no molde e descarga do conjunto, na razão de uma pessoa para duas máquinas, dependendo do tempo de ciclo da injeção. O trabalho consistiu no desenvolvimento de um sistema automático de alimentação e descarga da máquina de injeção, que tivesse por base um sistema já existente, mas que passasse a comportar outras funções até agora não desempenhadas pelos sistemas antigos, ou seja, que fossem capazes de ultrapassar os problemas colocados pela complexidade atual dos produtos em fabricação. O projeto foi concluído com sucesso, tendo sido validado pela empresa FicoCables, através da construção, teste e colocação em funcionamento de vários protótipos.

Experimental chemotherapy of Schistosomiasis III: laboratory and clinical trials with trichlorphone, an organophosphorus compound

Oogram studies have been carried out on mice, hamsters, and Cebus morikeys experimentally infected with Schistosoma mansoni and treated with trichlorphone (0,0-dimethyl 1-hydroxy-2, 2, 2-trichloroethylphosphonate). In mice, despite a slight hepatic shift of schistosomes, all animais presented oogram changes when dosed, per os, at the schedules of 200, and 100 mg/kg/day × 7. In hamsters, antischistosomal activity could be detected only at toxic leveis. In monkeys, trichlorphone showed insignificant action even after oral administration of 30 mg/kg/day for 10 consecutive days. In 5 volunteers, a sharp drop in cholinesterase plasma level was observed 24 hours after a single oral dose of 7.5 mg/kg. However, cholinesterase levels returned to the initial values within a period of 11 to 27 days. Trichlorphone was then administered to 12 schistosome patients (7.5 mg/kg/day, every fort- night, × 5). One month after therapy, interruption of egg laying was observed in 6 patients. Late parasitological control showed that all treated patients continued to pass viable S. mansoni eggs with their stools.

How to engage low category users through social media: The case of the make-up sector in Portugal

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics

Untitled: connecting layers of confusion, sensation and transformation

Dissertação para obtenção do Grau de Mestre em Arte e Ciência do Vidro

The crisis and the firm: The case of h3

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics

The strength of the waterbed effect depends on tariff type

We show that the waterbed effect, i.e. the pass-through of a change in one price of a firm to its other prices, is much stronger if the latter include subscription rather than only usage fees. In particular, in mobile network competition with a fixed number of customers, the waterbed effect is full under two-part tariffs, while it is only partial under linear tariffs.

Le pouvoir royal et les villes portugaises

Pendant le Moyen Âge, le Portugal est apparu comme un espace périphérique indissociable de la Chrétienté européenne, dont la diversité naturelle avait établi un contraste entre le nord, ouvert aux influences atlantiques, et le sud, proche de la Méditerranée. Ce clivage valait aussi pour la réeeptivité aux influenees culturelles léguées par le passé, en particulier romaine et islamique, dont I'héritage était plus sensible dans les zones situées au sud du Tage, ce dont témoignait notamment une plus forte densité urbaine. Cependant, le territoire portugais s'insérait encore dans une Péninsule Ibérique marquée par des siècles deprésenee musulmane et par une longue période de conflits militaires liés au mouvement de eonquête territoriale ehrétienne. On peut dire que I'émergenee politique du royaume portugais, presque à la fin de la premiére moitié du XIIe siècle (1143), résulte en grande partie de cette situation, sans aueun doute déterrninante pour la constitution de cette mosaique d'entités politiques, earactéristique de la Péninsule Ibérique au Moyen Âge. Mais on peut dire que I'autonomie portugaise et surtout son affirmation territoriale doit être assoeiée a un proeessus d'affirmation en faisant face aux unités politiques voisines ça veut dire les royaumes de León et Castille.

Comparative biology of the two sister species of Triatominae (Hemiptera: Reduviidae)

INTRODUCTION: Triatoma pseudomaculata and T. wygodzinskyi (Hemiptera: Reduviidae: Triatominae) are two Brazilian vectors of Chagas disease. The first is an arboricolous species in sylvatic environment and considered a vector of T. cruzi in peridomestic structures; the second, a rupicolous species in the wild environment of no epidemiological importance. In order to test the assumption that sister species share biological traits, comparative studies of their development cycle and blood ingestion were conducted. METHODS: Eggs laid by five field females of each species were randomly selected. The nymphs were observed daily and fed on mice weekly. The time required to pass through the different stages to adulthood was recorded in days. The triatomines were weighed individually before and after feeding. The mortality rate according to each nymphal stage was calculated. RESULTS AND CONCLUSIONS: Analysis of the results shows that they display only minor biological differences even though they exhibit a distinct ecology. This suggests that the biological traits are important criteria to determine the relationship between species.

Insurance segmentation as unfair discrimination: what to expect next in the wake of Test-Achats

Proceedings of the 16th Annual Conference organized by the Insurance Law Association of Serbia and German Foundation for International Legal Co-Operation (IRZ), entitled "Insurance law, governance and transparency: basics of the legal certainty" Palic Serbia, 17-19 April 2015.

First report of yellow fever virus in non-human primates in the State of Parana, Brazil

Sylvatic yellow fever is a zoonosis associated mainly with wild animals, especially those in the genus Alouatta, that act as the source of infection. Once infected, these animals pass the disease on to humans by way of an infected mosquito belonging to the genera Aedes, Haemagogus, or Sabethes. The present study is the first report of a case of yellow fever in non-human primates (NHP) in the State of Paraná, Brazil. After the case was diagnosed, several prophylactic measures were adopted to prevent outbreaks of the disease in humans.