Synthesis about a collaborative project on “Technology Assessment of Autonomous System

The project started in 2009 with the support of DAAD in Germany and CRUP in Portugal under the “Collaborative German-Portuguese University Actions” programme. One central goal is the further development of a theory of technology assessment applied to robotics and autonomous systems in general that reflects in its methodology the changing conditions of knowledge production in modern societies and the emergence of new robotic technologies and of associated disruptive changes. Relevant topics here are handling broadened future horizons and new clusters of science and technology (medicine, engineering, interfaces, industrial automation, micro-devices, security and safety), as well as new governance structures in policy decision making concerning research and development (R

An embedded real-time red peach detection system based on an OV7670 camera, ARM Cortex-M4 processor and 3D Look-Up Tables

This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.

Modelling and simulation of a photovoltaic fuel cell hybrid system

A stand-alone power system is an autonomous system that supplies electricity to the user load without being connected to the electric grid. This kind of decentralized system is frequently located in remote and inaccessible areas. It is essential for about one third of the world population which are living in developed or isolated regions and have no access to an electricity utility grid. The most people live in remote and rural areas, with low population density, lacking even the basic infrastructure. The utility grid extension to these locations is not a cost effective option and sometimes technically not feasible. The purpose of this thesis is the modelling and simulation of a stand-alone hybrid power system, referred to as “hydrogen Photovoltaic-Fuel Cell (PVFC) hybrid system”. It couples a photovoltaic generator (PV), an alkaline water electrolyser, a storage gas tank, a proton exchange membrane fuel cell (PEMFC), and power conditioning units (PCU) to give different system topologies. The system is intended to be an environmentally friendly solution since it tries maximising the use of a renewable energy source. Electricity is produced by a PV generator to meet the requirements of a user load. Whenever there is enough solar radiation, the user load can be powered totally by the PV electricity. During periods of low solar radiation, auxiliary electricity is required. An alkaline high pressure water electrolyser is powered by the excess energy from the PV generator to produce hydrogen and oxygen at a pressure of maximum 30bar. Gases are stored without compression for short- (hourly or daily) and long- (seasonal) term. A proton exchange membrane (PEM) fuel cell is used to keep the system’s reliability at the same level as for the conventional system while decreasing the environmental impact of the whole system. The PEM fuel cell consumes gases which are produced by an electrolyser to meet the user load demand when the PV generator energy is deficient, so that it works as an auxiliary generator. Power conditioning units are appropriate for the conversion and dispatch the energy between the components of the system. No batteries are used in this system since they represent the weakest when used in PV systems due to their need for sophisticated control and their short lifetime. The model library, ISET Alternative Power Library (ISET-APL), is designed by the Institute of Solar Energy supply Technology (ISET) and used for the simulation of the hybrid system. The physical, analytical and/or empirical equations of each component are programmed and implemented separately in this library for the simulation software program Simplorer by C++ language. The model parameters are derived from manufacturer’s performance data sheets or measurements obtained from literature. The identification and validation of the major hydrogen PVFC hybrid system component models are evaluated according to the measured data of the components, from the manufacturer’s data sheet or from actual system operation. Then, the overall system is simulated, at intervals of one hour each, by using solar radiation as the primary energy input and hydrogen as energy storage for one year operation. A comparison between different topologies, such as DC or AC coupled systems, is carried out on the basis of energy point of view at two locations with different geographical latitudes, in Kassel/Germany (Europe) and in Cairo/Egypt (North Africa). The main conclusion in this work is that the simulation method of the system study under different conditions could successfully be used to give good visualization and comparison between those topologies for the overall performance of the system. The operational performance of the system is not only depending on component efficiency but also on system design and consumption behaviour. The worst case of this system is the low efficiency of the storage subsystem made of the electrolyser, the gas storage tank, and the fuel cell as it is around 25-34% at Cairo and 29-37% at Kassel. Therefore, the research for this system should be concentrated in the subsystem components development especially the fuel cell.

A compact free space quantum key distribution system capable of daylight operation

A free space quantum key distribution system has been demonstrated. Consideration has been given to factors such as field of view and spectral width, to cut down the deleterious effect from background light levels. Suitable optical sources such as lasers and RCLEDs have been investigated as well as optimal wavelength choices, always with a view to building a compact and robust system. The implementation of background reduction measures resulted in a system capable of operating in daylight conditions. An autonomous system was left running and generating shared key material continuously for over 7 days. © 2009 Published by Elsevier B.V..

Automatização da E.T.A.R. e Plano de Manutenção para a Adega Cooperativa de Mangualde

Visto que o tratamento das águas residuais é um tema muito importante para a saúde pública, é necessário criar vários processos para o tratamento de efluentes. Após a finalização de todos os processos, o efluente tratado terá de cumprir requisitos de qualidade químicos e biológicos para a sua descarga no meio ambiente. A utilização de equipamentos e técnicas, caraterizados por elevados níveis de precisão (como a tecnologia), é muito importante, pois é possível tornar o sistema mais autónomo, monitorizar processos e controlá-los de forma eficiente e acessível para o utilizador. Assim, neste tipo de sistemas terá que ser utilizado um elemento central de controlo e vários elementos auxiliares, nomeadamente vários tipos de sensores. Também terá que se usar uma interface que permita ao utilizador comunicar com o sistema de controlo, de forma a poder manipular e ajustar determinados parâmetros que influenciam os processos de tratamento. Neste sentido, a presente dissertação apresenta um estudo/projeto, na Adega Cooperativa de Mangualde, onde se pretende automatizar, controlar e monitorizar a Estação de Tratamento de Águas Residuais (ETAR) da mesma. Como, cada vez mais, os lucros das empresas dependem do bom funcionamento, não só dos trabalhadores mas também dos seus equipamentos, é necessário que estes estejam em ótimas condições de trabalho, de forma a evitar avarias e paragens na produção, o que vem trazer, por consequência, prejuízos para as empresas. Assim, realizar-se-á, também, um plano de manutenção para garantir o bom desempenho dos equipamentos desta unidade fabril.

Supervisão, comando e controlo para sistemas robóticos

Mestrado em Engenharia Electrotécnica e de Computadores. Área de Especialização em Sistemas Autónomos

Biblioteca de navegação autónoma baseada em campos de potencial

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

Sistema de visão para aterragem automática de UAV

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Electrónica Industrial

Problemas associados à instalação de subestações de energia em malha urbana. Caso de estudo da subestação de parceiros em Leiria

No âmbito do desenvolvimento da dissertação do Mestrado de Engenharia Eletrotécnica – Sistemas Elétricos de Energia, surgiu a oportunidade de participar no desenvolvimento de um projeto integrante numa subestação de energia. O presente caso de estudo tem em vista a resolução de condicionantes na conceção desta subestação, tais como cumprir requisitos estéticos projetando todo o tipo de equipamentos dentro de edifícios, a ventilação das salas de transformação assim como insonorização de todo o ruído produzido de forma a cumprir os limites legais e não perturbar a vizinhança. A presente subestação de energia está situada numa zona urbana da cidade de Leiria, localidade de Parceiros, dando origem ao nome Subestação de Energia de Parceiros. Esta subestação pertence ao cliente Energias de Portugal, conhecida como EDP, e visa o melhoramento da distribuição do serviço eléctrico. As tradicionais subestações de energia, com aparência bastante desenquadrada dos meios urbanos, representam um entrave ao nível da aproximação destes centros de produção energética às zonas urbanas, comprometendo a melhoria da rede elétrica. Desta forma, foi implementada a tecnologia Gas-Insolated Switchgear e permite o enquadramento destes centros energéticos em zonas urbanas, constituindo mais um edifício urbano na zona onde se insere. Esta substitui os convencionais barramentos existentes nos Parques Exteriores de Aparelhagem das subestações e apresenta-se com dimensões muito reduzidas quando comparadas com as estruturas instaladas nestes parques. Dado que esta tecnologia é desenvolvida no sentido de permitir a construção destes centros energéticos em zonas urbanas, podem ser alojadas dentro de edifícios produzindo assim vantagens ao nível estético, não perturbando a paisagem. Dado que os principais equipamentos de funcionamento na subestação de Parceiros, nomeadamente o Transformador de Potência, se encontram instalados num edifício completamente fechado, foram construídas duas salas de ventilação, na parte superior deste edifício, cada uma adjacente a uma sala de transformação. O transformador instalado possui elevadas dimensões, pesando 53000 kg e contendo 11000 kg de óleo que em estado normal de funcionamento circula por quase todo o interior da máquina a elevadas temperaturas, provocando um aquecimento elevado no interior do edifício o que condiciona o bom funcionamento do transformador. Para ultrapassar esta condicionante foi realizado um estudo de um sistema de ventilação capaz de avaliar e controlar os valores térmicos existentes e proceder à circulação de ar, que será movimentado ou bloqueado, recorrendo a um sistema autónomo, mantendo a temperatura ideal nas salas de transformação. Este autómato é o cérebro de toda a cadeia lógica que, mediante as leituras efetuadas irá dar ordens de atuação aos diversos equipamentos. Apesar dos TP estarem protegidos dentro do edifício, estes produzem um maior ruído. A necessidade da existência do referido sistema de ventilação das divisões de funcionamento destas máquinas, implica a utilização de aparelhos que, apesar da sua evolução tecnológica os torna cada vez menos ruidosos, mas geram sempre alguma perturbação, o que pode representar um problema no cumprimento do regulamento geral do ruído.

A volumetric hybrid representation for obstacle detection in all-terrain robots

This dissertation presents an approach aimed at three-dimensional perception’s obstacle detection on all-terrain robots. Given the huge amount of acquired information, the adversities such environments present to an autonomous system and the swiftness, thus required, from each of its navigation decisions, it becomes imperative that the 3-D perceptional system to be able to map obstacles and passageways in the most swift and detailed manner. In this document, a hybrid approach is presented bringing the best of several methods together, combining the lightness of lesser meticulous analyses with the detail brought by more thorough ones. Realizing the former, a terrain’s slope mapping system upon a low resolute volumetric representation of the surrounding occupancy. For the latter’s detailed evaluation, two novel metrics were conceived to discriminate the little depth discrepancies found in between range scanner’s beam distance measurements. The hybrid solution resulting from the conjunction of these two representations provides a reliable answer to traversability mapping and a robust discrimination of penetrable vegetation from that constituting real obstructions. Two distinct robotic platforms offered the possibility to test the hybrid approach on very different applications: a boat, under an European project, the ECHORD Riverwatch, and a terrestrial four-wheeled robot for a national project, the Introsys Robot.

Control de la derivació de l'aigua de reg de Masjoan

RESUM Masjoan és una masia del segle XII on resideix la família Masferrer des del 1710. Actualment a Masjoan l’activitat principal és el cultiu i venta de plantes ornamentals, i l’explotació forestal per obtenir fusta. Pel que fa a l’aigua, tant per a la realització de l’activitat professional com per al subministrament de la casa, aquesta prové de mines d’aigua natural situades en la finca. L’objectiu d’aquest TFC ha estat dissenyar un sistema autònom per automatitzar el procés de derivació de l’aigua procedent d’una mina, i d’aquesta manera aprofitar millor els recursos naturals dels que és disposa. El desenvolupament d’aquest sistema, comprèn la selecció i configuració de sensors i actuadors, el disseny del circuit amb la realització de la placa, el disseny del sistema d’alimentació autònom, el software que controla el sistema, i dimensionar la resta d’elements de la instal•lació. Tot el sistema està controlat per un microcontrolador PIC16F876 i alimentat per un mòdul solar de 4W. En el disseny s’ha procurat, sobredimencionar les diferents etapes per possibles ampliacions o modificacions del sistema i que el circuit procures optimitzar el consum d’energia. Com a conclusions cal dir que s’han assolit els objectius proposats amb èxit. S’ha aconseguit un disseny funcional i estable que actualment es troba en funcionament.

Integrability of a linear center perturbed by a fourth degree homogeneous polynomial

In this work we study the integrability of a two-dimensional autonomous system in the plane with linear part of center type and non-linear part given by homogeneous polynomials of fourth degree. We give sufficient conditions for integrability in polar coordinates. Finally we establish a conjecture about the independence of the two classes of parameters which appear in the system; if this conjecture is true the integrable cases found will be the only possible ones.

Integrability of a linear center perturbed by a fifth degree homogeneous polynomial

In this work we study the integrability of two-dimensional autonomous system in the plane with linear part of center type and non-linear part given by homogeneous polynomials of fifth degree. We give a simple characterisation for the integrable cases in polar coordinates. Finally we formulate a conjecture about the independence of the two classes of parameters which appear on the system; if this conjecture is true the integrable cases found will be the only possible ones.

Automated monitoring of medical protocols: a secure and distributed architecture

The control of the right application of medical protocols is a key issue in hospital environments. For the automated monitoring of medical protocols, we need a domain-independent language for their representation and a fully, or semi, autonomous system that understands the protocols and supervises their application. In this paper we describe a specification language and a multi-agent system architecture for monitoring medical protocols. We model medical services in hospital environments as specialized domain agents and interpret a medical protocol as a negotiation process between agents. A medical service can be involved in multiple medical protocols, and so specialized domain agents are independent of negotiation processes and autonomous system agents perform monitoring tasks. We present the detailed architecture of the system agents and of an important domain agent, the database broker agent, that is responsible of obtaining relevant information about the clinical history of patients. We also describe how we tackle the problems of privacy, integrity and authentication during the process of exchanging information between agents.

Control de la derivació de l'aigua de reg de Masjoan

RESUM Masjoan és una masia del segle XII on resideix la família Masferrer des del 1710. Actualment a Masjoan l’activitat principal és el cultiu i venta de plantes ornamentals, i l’explotació forestal per obtenir fusta. Pel que fa a l’aigua, tant per a la realització de l’activitat professional com per al subministrament de la casa, aquesta prové de mines d’aigua natural situades en la finca. L’objectiu d’aquest TFC ha estat dissenyar un sistema autònom per automatitzar el procés de derivació de l’aigua procedent d’una mina, i d’aquesta manera aprofitar millor els recursos naturals dels que és disposa. El desenvolupament d’aquest sistema, comprèn la selecció i configuració de sensors i actuadors, el disseny del circuit amb la realització de la placa, el disseny del sistema d’alimentació autònom, el software que controla el sistema, i dimensionar la resta d’elements de la instal•lació. Tot el sistema està controlat per un microcontrolador PIC16F876 i alimentat per un mòdul solar de 4W. En el disseny s’ha procurat, sobredimencionar les diferents etapes per possibles ampliacions o modificacions del sistema i que el circuit procures optimitzar el consum d’energia. Com a conclusions cal dir que s’han assolit els objectius proposats amb èxit. S’ha aconseguit un disseny funcional i estable que actualment es troba en funcionament.