Towards Active Course Marks for Autonomous Sailing Competitions

This paper describes the environmental monitoring / regatta beacon buoy under development at the Laboratory of Autonomous Systems (LSA) of the Polytechnic Institute of Porto. On the one hand, environmentalmonitoring of open water bodies in real or deferred time is essential to assess and make sensible decisions and, on the other hand, the broadcast in real time of position, water and wind related parameters allows autonomous boats to optimise their regatta performance. This proposal, rather than restraining the boats autonomy, fosters the development of intelligent behaviour by allowing the boats to focus on regatta strategy and tactics. The Nautical and Telemetric Application (NAUTA) buoy is a dual mode reconfigurable system that includes communications, control, data logging, sensing, storage and power subsystems. In environmental monitoring mode, the buoy gathers and stores data from several underwater and above water sensors and, in regatta mode, the buoy becomes an active course mark for the autonomous sailing boats in the vicinity. During a race, the buoy broadcasts its position, together with the wind and the water current local conditions, allowing autonomous boats to navigate towards and round the mark successfully. This project started with the specification of the requirements of the dual mode operation, followed by the design and building of the buoy structure. The research is currently focussed on the development of the modular, reconfigurable, open source-based control system. The NAUTA buoy is innovative, extensible and optimises the on board platform resources.

A system model and stack for the parallelization of time-critical applications on many-core architectures

3rd Workshop on High-performance and Real-time Embedded Systems (HIRES 2015). 21, Jan, 2015. Amsterdam, Netherlands.

Supporting NAT traversal and secure communications in a protocol implementation framework

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

A layer 2 multipath fabric using a centralized controller

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

Lightweight robust behavior industrial agent methodology

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

Zylinderdruckbasierte Auflade- und Abgasrückführregelung für PKW-Dieselmotoren

Boost pressure, egr, cylinder pressure, ecu, model based control strategy, diesel engine

Short-course thymoglobulin induction and steroid-free immunosuppressive regimen in renal transplantation

Purpose: Optimal induction and maintenance immunosuppressive therapies in renal transplantation are still a matter of debate.Chronic corticosteroid usage is a major cause of morbidity but steroid-free immunosuppression (SF) can result in unacceptably high rates of acute rejection and even graft loss. Methods and materials: We have conducted a prospective openlabelled clinical trial in the Geneva-Lausanne Transplant Network from March 2005 to May 2008. 20 low immunological risk (<20% PRA, no DSA) adult recipients of a primary kidney allograft received a 4-day course of thymoglobulin (1.5 mg/kg/d) with methylprednisolone and maintenance based immunosuppression of tacrolimus and entericcoated mycophenolic acid (MPA). The control arm consisted of 16 matched recipients treated with basiliximab induction, tacrolimus, mycophenolate mofetil and corticosteroids. Primary endpoints were the percentage of recipients not taking steroids and the percentage of rejection-free recipients at 12 months.Secondary end points were allograft survival at 12 months and significant thymoglobulin and/or other drugs side effects. Results: In the SF group, 85% of the kidney recipients remained steroid-free at 12 months. The 3 cases of steroids introduction were due to one acute tubulo-interstitial rejection occurring at day 11, one tacrolimus withdrawal due to thrombotic microangiopathy and one MPA withdrawal because of multiple sinusitis and CMV reactivations. No BK viremia was detected nor CMV disease. The 6 CMV negative patients who received a positive CMV allograft had a symptomatic primoinfection after their 6-month course valgancyclovir prophylaxis. In the steroid-based group, 3 acute rejection episodes (acute humoral rejection, acute tubulointerstitial Banff IA and vascular Banff IIA) occurred in 2 recipients, 3 BK virus nephropathies were diagnosed between 45 and 135 days post transplant No side effects were associated with thymoglobulin infusion.In the SF group, 4 recipients presented severe leukopenia or agranulocytosis and one recipient had febrile hepatitis leading to transient MPA withdrawal. Discontinuation of MPA was needed in 2 patients for recurrent sinusitis and CMV reactivations. Patient and graft survival was 100% in both groups at 12 month follow-up. Conclusion: Steroid-free with short-course thymoglobulin induction therapy was a safe protocol in low-risk renal transplant recipients. Lower rates of acute rejection and BK virus infections episodes were seen compared to the steroid-based control group. A longer follow-up will be needed to determine whether this SF immunosuppressive regimen will result in higher graft and patient survival.

State power and protected areas: Dynamics and contradictions of forest conservation in Madhya Pradesh, India

The traditionally coercive and state-controlled governance of protected areas for nature conservation in developing countries has in many cases undergone change in the context of widespread decentralization and liberalization. This article examines an emerging "mixed" (coercive, community- and market-oriented) conservation approach in managed-resource protected areas and its effects on state power through a case study on forest protection in the central Indian state of Madhya Pradesh. The findings suggest that imperfect decentralization and partial liberalization resulted in changed forms, rather than uniform loss, of state power. A forest co-management program paradoxically strengthened local capacity and influence of the Forest Department, which generally maintained its territorial and knowledge-based control over forests and timber management. Furthermore, deregulation and reregulation enabled the state to withdraw from uneconomic activities but also implied reduced place-based control of non-timber forest products. Generally, the new policies and programs contributed to the separation of livelihoods and forests in Madhya Pradesh. The article concludes that regulatory, community- and market-based initiatives would need to be better coordinated to lead to more effective nature conservation and positive livelihood outcomes.

Gradation Analysis of Cold Feed and Extracted Bituminuous Mix Samples, MLR-88-2, 1988

Since 1987, the Iowa Department of Transportation has based control of hot asphalt concrete mixes on cold feed gradations. This report presents results of comparisons between cold feed gradations and gradations of aggregate from the same material after it has been processed through the plant and laydown machine. Results are categorized based on mix type, plant type, and method of dust control, in an effort to quantify and identify the factors contributing to those changes. Results of the report are: 1. From the 390 sample comparisons made, aggregate degradation due to asphalt plant processing was demonstrated by an average increase of +0.7% passing the #200 sieve and an average increase in surface area of +1.8 sq. ft. per pound of aggregate. 2. Categories with Type A Mix or Recycling as a sorting criteria generally produced greater degradation than categories containing Type B Mixes and/or plants with scrubbers. 3. None of the averages calculated for the categories should be considered unacceptably high, however, it is information that should be considered when making mix changes in the field, selecting asphalt contents for borderline mix designs, or when evaluating potential mix gradation specification or design criteria changes.

Special Events Planning, 2010

The Iowa Department of Transportation (Iowa DOT) Special Events Planning (SEP) document is a collection of Special Event Management Strategic Plans for individual events throughout the state of Iowa. The development of the SEP document focused on improving travel, safety and efficiency to and from Iowa’s largest traffic generating events through the review of event specific traffic management components. Initially, three events were selected from the state of Iowa for inclusion in the SEP document. As Strategic Plans are developed for additional events, those events will be included in the SEP document. The three initial events that are included in this SEP are: • Iowa State Fair; • Iowa State University Home Football Games; • University of Iowa Home Football Games. The Strategic Plan for each event documents existing transportation conditions for the event based on field observations, highlights positive existing practices and issues for consideration, and provides recommendations, both short and long term, to be considered as potential improvements to event operations. The objective of each Strategic Plan was, at a high-level, to analyze traffic and pedestrian flow at each event and to work with event staff, agencies and others in developing roadway, operations and safety improvements where appropriate. The SEP document is intended to be a “living” document with updates to the Strategic Plans occurring as warranted and additional Strategic Plans being incorporated for other events. The enacting of recommendations contained within each Strategic Plan is not a mandate for the responsible agency for a particular event. The Strategic Plans are intended to provide a basis for discussion between the Iowa DOT and agencies involved in the planning and implementation of transportation operations for large traffic events regarding opportunities to improve the event patron’s experience.

Virtuaalitodellisuuslaboratorion laiteympäristön kehittäminen - ohjaimet ja ohjelmistot

Tämä diplomityö on tehty osana HumanICT-projektia, jonka tavoitteena on kehittää uusi, virtuaalitekniikoita hyödyntävä, työkoneiden käyttäjäliityntöjen suunnittelumenetelmä. Työn tarkoituksena oli kehittää VTT:n Tuotteet ja tuotanto tutkimusyksikköön kuluvan Ihminen-kone-turvallisuus ryhmän nykyistä virtuaalitodellisuuslaboratoriota siten, että sitä voidaan käyttää työkoneiden suunnittelussa sekä monipuolisissa ergonomiatarkasteluissa. Itse ympäristön kehittäminen pitää sisällään uuden ohjainjärjestelmän suunnittelun sekä sen implementoinnin nykyisin käytössä olevaan virtuaaliympäristöön. Perinteisesti ohjaamosimulaattorit ovat olleet sovelluskohteisiin räätälöityjä, joten ne ovat kalliita ja niiden konfiguroinnin muuttaminen on vaikeaa, joskus jopa mahdotonta. Tämän työntarkoituksena oli kehittää PC-tietokoneeseen ja yleiseen käyttöjärjestelmään perustuva ohjainjärjestelmä, joka on nopeasti kytkettävissä erilaisiin virtuaaliympäristön sovelluksiin, kuten ohjaamomalleihin. Työssä tarkasteltiin myös tapoja mallintaa fysikaalisia ilmiöitä reaaliaikasovelluksissa, eli on-line simuloinnissa. Tämän tarkastelun perusteella etsittiin ja valittiin jatkokäsittelyyn ohjelmistoja, joiden reaaliaikaisen dynamiikan simulointialgoritmitolivat kaikkein kehittyneimpiä ja monipuolisia.

Sediment budget monitoring of debris-flow and bedload transport in the Manival Torrent, SE France

Steep mountain catchments typically experience large sediment pulses from hillslopes which are stored in headwater channels and remobilized by debris-flows or bedload transport. Event-based sediment budget monitoring in the active Manival debris-flow torrent in the French Alps during a two-year period gave insights into the catchment-scale sediment routing during moderate rainfall intensities which occur several times each year. The monitoring was based on intensive topographic resurveys of low- and high-order channels using different techniques (cross-section surveys with total station and high-resolution channel surveys with terrestrial and airborne laser scanning). Data on sediment output volumes from the main channel were obtained by a sediment trap. Two debris-flows were observed, as well as several bedload transport flow events. Sediment budget analysis of the two debris-flows revealed that most of the debris-flow volumes were supplied by channel scouring (more than 92%). Bedload transport during autumn contributed to the sediment recharge of high-order channels by the deposition of large gravel wedges. This process is recognized as being fundamental for debris-flow occurrence during the subsequent spring and summer. A time shift of scour-and-fill sequences was observed between low- and high-order channels, revealing the discontinuous sediment transfer in the catchment during common flow events. A conceptual model of sediment routing for different event magnitude is proposed.

DAI-DEPUR: an integrated and distributed architecture for wastewater treatment plants supervision

The activated sludge process - the main biological technology usually applied towastewater treatment plants (WWTP) - directly depends on live beings (microorganisms), and therefore on unforeseen changes produced by them. It could be possible to get a good plant operation if the supervisory control system is able to react to the changes and deviations in the system and can take thenecessary actions to restore the system’s performance. These decisions are oftenbased both on physical, chemical, microbiological principles (suitable to bemodelled by conventional control algorithms) and on some knowledge (suitable to be modelled by knowledge-based systems). But one of the key problems in knowledge-based control systems design is the development of an architecture able to manage efficiently the different elements of the process (integrated architecture), to learn from previous cases (spec@c experimental knowledge) and to acquire the domain knowledge (general expert knowledge). These problems increase when the process belongs to an ill-structured domain and is composed of several complex operational units. Therefore, an integrated and distributed AIarchitecture seems to be a good choice. This paper proposes an integrated and distributed supervisory multi-level architecture for the supervision of WWTP, that overcomes some of the main troubles of classical control techniques and those of knowledge-based systems applied to real world systems

Mikrokontrolleriohjaus led-ryhmälle

Luonnonvarojen ehtyminen ja ympäristön saastuminen on luonut kysyntää uusille, energiaa säästäville ja ympäristöystävällisille teknologioille. Valaistuksessa tällainen teknologia on led-tekniikka. Led-tekniikalla on useita etuja verrattuna kilpaileviin tekniikoihin kuten pitkä elinikä, ympäristöystävällisyys ja mekaaninen kestävyys. Ledejä käytetään nykyään laajalti erilaisissa erikoissovelluksissa, erityisesti jos vaatimuksena on valon värillisyys. Näihin päiviin asti ledien hinta ja heikko valontuotto ovat rajoittaneet led-valaisimien yleistymistä hehkulamppujen ja muiden valaisintyyppien korvaajina. Tekniikan nopea kehittyminen on tehnyt led-tekniikasta varteenotettavan vaihtoehdon myös yleisvalaistukseen. Uusimpien valkoisten ledien valotehokkuus on 2 - 5 -kertainen hehkulamppuun verrattuna. Led-tekniikassa on vielä paljon käyttämätöntä potentiaalia, tulevaisuudessa päästäneen 10 - 15 -kertaiseen valotehokkuuteen hehkulamppuun verrattuna. Työssä suunnitellaan mikrokontrolleripohjainen ohjausjärjestelmä valkoista valoa tuottavalle led-valaisimelle, jonka värisävyä ja kirkkautta käyttäjä voi säätää. Valkoinen valo synnytetään sekoittamalla neljän erivärisen led-rivin valoa. Mikrokontrolleri ohjaa kutakin led-riviä väriensekoitusteoriaan perustuen. Mikrokontrolleriohjaus huomioi myös ledien optisten ominaisuuksien muutokset lämpötilan suhteen. Mikrokontrolleriohjauksen suorituskyky todetaan käytännön mittauksilla.

Feromônios associados aos coleópteros-praga de produtos armazenados

One strategy to overcome risks of insecticide-based control in agriculture is to use semiochemicals. In the case of pheromones, these specific compounds can be applied in traps to detect and monitor the occurrence, abundance and distribution of insect pests. Reliable detection helps to time insecticide sprays, to decide the quantity of insecticide that will be used and the place where it will be applied. This manuscript aims to give an overview of the pheromones associated to coleopteran pests in stored products, and their utilization in integrated pest management.