Visual function: How spiders find the right rock to crawl under

Animals that go on hunting expeditions face the problem of finding the way home at the end of the day. A group of hunting spiders has now been added to the list of animals that use the celestial pattern of polarized light as a compass for navigation. (C) 1999 Elsevier Science Ltd. All rights reserved.

Religions and cultures: Religious dynamics in Latin America

The author seeks to analyse the relationships between religion and culture in Latin America, especially in Brazil, highlighting the fact that the different religions enjoy diverse relationships with culture in a single location. He also addresses the fact that religions interpret culture in different ways and these interpretations help define their conversion strategies and how best to confront opposing religions. For the sake of discussion, the author considers, hypothetically, a not-so-distant future in which Latin America becomes predominantly evangelical, and asks what will happen to Latin America`s supposed Catholic culture if the evangelical religions do indeed take over.

Critical comparison of Julius Kruttschnitt Mineral Research Centre (JKMRC) blast fragmentation models

Blast fragmentation can have a significant impact on the profitability of a mine. An optimum run of mine (ROM) size distribution is required to maximise the performance of downstream processes. If this fragmentation size distribution can be modelled and controlled, the operation will have made a significant advancement towards improving its performance. Blast fragmentation modelling is an important step in Mine to Mill™ optimisation. It allows the estimation of blast fragmentation distributions for a number of different rock mass, blast geometry, and explosive parameters. These distributions can then be modelled in downstream mining and milling processes to determine the optimum blast design. When a blast hole is detonated rock breakage occurs in two different stress regions - compressive and tensile. In the-first region, compressive stress waves form a 'crushed zone' directly adjacent to the blast hole. The second region, termed the 'cracked zone', occurs outside the crush one. The widely used Kuz-Ram model does not recognise these two blast regions. In the Kuz-Ram model the mean fragment size from the blast is approximated and is then used to estimate the remaining size distribution. Experience has shown that this model predicts the coarse end reasonably accurately, but it can significantly underestimate the amount of fines generated. As part of the Australian Mineral Industries Research Association (AMIRA) P483A Mine to Mill™ project, the Two-Component Model (TCM) and Crush Zone Model (CZM), developed by the Julius Kruttschnitt Mineral Research Centre (JKMRC), were compared and evaluated to measured ROM fragmentation distributions. An important criteria for this comparison was the variation of model results from measured ROM in the-fine to intermediate section (1-100 mm) of the fragmentation curve. This region of the distribution is important for Mine to Mill™ optimisation. The comparison of modelled and Split ROM fragmentation distributions has been conducted in harder ores (UCS greater than 80 MPa). Further work involves modelling softer ores. The comparisons will be continued with future site surveys to increase confidence in the comparison of the CZM and TCM to Split results. Stochastic fragmentation modelling will then be conducted to take into account variation of input parameters. A window of possible fragmentation distributions can be compared to those obtained by Split . Following this work, an improved fragmentation model will be developed in response to these findings.

Inperlys – independente personal location system

O desenvolvimento de sistemas de localização pedestre com recurso a técnicas de dead reckoning tem mostrado ser uma área em expansão no mundo académico e não só. Existem algumas soluções criadas, no entanto, nem todas as soluções serão facilmente implementadas no mercado, quer seja pelo hardware caro, ou pelo sistema em si, que é desenvolvido tendo em conta um cenário em particular. INPERLYS é um sistema que visa apresentar uma solução de localização pedestre, independentemente do cenário, utilizando recursos que poderão ser facilmente usados. Trata-se de um sistema que utiliza uma técnica de dead reckonig para dar a localização do utilizador. Em cenários outdoor, um receptor GPS fornece a posição do utilizador, fornecendo uma posição absoluta ao sistema. Quando não é possível utilizar o GPS, recorre-se a um sensor MEMS e a uma bússola para se obter posições relativas à última posição válida do GPS. Para interligar todos os sensores foi utilizado o protocolo de comunicações sem fios ZigBee™. A escolha recaiu neste protocolo devido a factores como os seus baixos consumos e o seu baixo custo. Assim o sistema torna-se de uso fácil e confortável para o utilizador, ao contrário de sistemas similares desenvolvidos, que utilizam cabos para interligarem os diferentes componentes do sistema. O sensor MEMS do tipo acelerómetro tem a função de ler a aceleração horizontal, ao nível do pé. Esta aceleração será usada por um algoritmo de reconhecimento do padrão das acelerações para se detectar os passos dados. Após a detecção do passo, a aceleração máxima registada nesse passo é fornecida ao coordenador, para se obter o deslocamento efectuado. Foram efectuados alguns testes para se perceber a eficiência do INPERLYS. Os testes decorreram num percurso plano, efectuados a uma velocidade normal e com passadas normais. Verificou-se que, neste momento, o desempenho do sistema poderá ser melhorado, quer seja a nível de gestão das comunicações, quer a nível do reconhecimento do padrão da aceleração horizontal, essencial para se detectar os passos. No entanto o sistema é capaz de fornecer a posição através do GPS, quando é possível a sua utilização, e é capaz de fornecer a orientação do movimento.

Projeto, desenvolvimento e implementação de um robô nadador de inspiração biológica

A elaboração deste trabalho surge no âmbito da unidade curricular de Tese/Dissertação, pertencente ao Mestrado em Engenharia Eletrotécnica e Computadores, ramo de Automação e Sistemas, do Instituto Superior de Engenharia do Porto (ISEP). Este trabalho enquadra-se no âmbito da robótica de inspiração biológica no meio aquático. Pretendeu-se com este trabalho desenvolver e implementar um robô nadador de inspiração biológica. Inicialmente foi realizado um estudo acerca da locomoção dos peixes, para perceber a sua forma de se movimentar. Foi ainda efetuado um estudo acerca dos robôs nadadores existentes, de forma a verificar a sua constituição e formas de locomoção. Numa fase inicial foi desenvolvido um protótipo e, de seguida, procedeu-se à implementação do robô de uma forma sequencial. Implementou-se a estrutura do robô, com o objetivo de se assemelhar o mais possível com um peixe biológico. Foram utilizados servomotores para a locomoção do robô. Para que o robô possua a capacidade de se movimentar numa determinada direção recorreu-se à utilização de uma bússola digital. Posteriormente introduziu-se um emissor/recetor de radiofrequência (RF) para ligar/desligar o robô. Numa fase final procederam-se aos testes da locomoção do robô. Nos ensaios realizados verificou-se que o robô conseguiu nadar com estabilidade e com sentido de direção.

XtranX passenger: navegação inercial

Trabalho de Projecto para obtenção do grau de Mestre em Engenharia Informática e de Computadores

Complementary filter design with three frequency bands: robot attitude estimation

This paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.

Resistência aos cloretos e aos sulfatos de argamassas de cal aérea e diferentes pozolanas

Seminário Internacional COMPASS – Sais Solúveis em Argamassas de Edifícios Antigos. Lisboa, LNEC, Fevereiro 2005, p.9.1-9.14

eVentos 2 - Autonomous sailboat control

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

Os sentidos da educação religiosa na construção do eu contemporâneo: espiritualidades juvenis

Dissertação de mestrado em Ciências da Educação (área de especialização em Sociologia da Educação e Políticas Educativas)

Growth and Survival Determinants of Chinese Private Firms: Fieldwork evidence and econometric estimates

This paper reports on one of the first empirical attempts to investigate small firm growth and survival, and their determinants, in the Peoples’ Republic of China. The work is based on field work evidence gathered from a sample of 83 Chinese private firms (mainly SMEs) collected initially by face-to-face interviews, and subsequently by follow-up telephone interviews a year later. We extend the models of Gibrat (1931) and Jovanovic (1982), which traditionally focus on size and age alone (e.g. Brock and Evans, 1986), to a ‘comprehensive’ growth model with two types of additional explanatory variables: firm-specific (e.g. business planning); and environmental (e.g. choice of location). We estimate two econometric models: a ‘basic’ age-size-growth model; and a ‘comprehensive’ growth model, using Heckman’s two-step regression procedure. Estimation is by log-linear regression on cross-section data, with corrections for sample selection bias and heteroskedasticity. Our results refute a pure Gibrat model (but support a more general variant) and support the learning model, as regards the consequences of size and age for growth; and our extension to a comprehensive model highlights the importance of location choice and customer orientation for the growth of Chinese private firms. In the latter model, growth is explained by variables like planning, R&D orientation, market competition, elasticity of demand etc. as well as by control variables. Our work on small firm growth achieves two things. First, it upholds the validity of ‘basic’ size-age-growth models, and successfully applies them to the Chinese economy. Second, it extends the compass of such models to a ‘comprehensive’ growth model incorporating firm-specific and environmental variables.

Growth and Survival Determinants of Chinese Private Firms: Fieldwork evidence and econometric estimates

This paper reports on one of the first empirical attempts to investigate small firm growth and survival, and their determinants, in the Peoples’ Republic of China. The work is based on field work evidence gathered from a sample of 83 Chinese private firms (mainly SMEs) collected initially by face-to-face interviews, and subsequently by follow-up telephone interviews a year later. We extend the models of Gibrat (1931) and Jovanovic (1982), which traditionally focus on size and age alone (e.g. Brock and Evans, 1986), to a ‘comprehensive’ growth model with two types of additional explanatory variables: firm-specific (e.g. business planning); and environmental (e.g. choice of location). We estimate two econometric models: a ‘basic’ age-size-growth model; and a ‘comprehensive’ growth model, using Heckman’s two-step regression procedure. Estimation is by log-linear regression on cross-section data, with corrections for sample selection bias and heteroskedasticity. Our results refute a pure Gibrat model (but support a more general variant) and support the learning model, as regards the consequences of size and age for growth; and our extension to a comprehensive model highlights the importance of location choice and customer orientation for the growth of Chinese private firms. In the latter model, growth is explained by variables like planning, R&D orientation, market competition, elasticity of demand etc. as well as by control variables. Our work on small firm growth achieves two things. First, it upholds the validity of ‘basic’ size-age-growth models, and successfully applies them to the Chinese economy. Second, it extends the compass of such models to a ‘comprehensive’ growth model incorporating firm-specific and environmental variables.