On the motion planning & control of nonlinear robotic systems

In the last decades, we saw a soaring interest in autonomous robots boosted not only by academia and industry, but also by the ever in- creasing demand from civil users. As a matter of fact, autonomous robots are fast spreading in all aspects of human life, we can see them clean houses, navigate through city traffic, or harvest fruits and vegetables. Almost all commercial drones already exhibit unprecedented and sophisticated skills which makes them suitable for these applications, such as obstacle avoidance, simultaneous localisation and mapping, path planning, visual-inertial odometry, and object tracking. The major limitations of such robotic platforms lie in the limited payload that can carry, in their costs, and in the limited autonomy due to finite battery capability. For this reason researchers start to develop new algorithms able to run even on resource constrained platforms both in terms of computation capabilities and limited types of endowed sensors, focusing especially on very cheap sensors and hardware. The possibility to use a limited number of sensors allowed to scale a lot the UAVs size, while the implementation of new efficient algorithms, performing the same task in lower time, allows for lower autonomy. However, the developed robots are not mature enough to completely operate autonomously without human supervision due to still too big dimensions (especially for aerial vehicles), which make these platforms unsafe for humans, and the high probability of numerical, and decision, errors that robots may make. In this perspective, this thesis aims to review and improve the current state-of-the-art solutions for autonomous navigation from a purely practical point of view. In particular, we deeply focused on the problems of robot control, trajectory planning, environments exploration, and obstacle avoidance.

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Gestión operaciones logísticas : planificación, gestión y control on-line de operaciones de descarga

Aplicación en entorno web para facilitar la planificación, control y gestión de operaciones logísticas de descarga en un almacén regulador que gestione diferentes clientes con varios orígenes y destinos. Permite el acceso concurrente de varios usuarios previamente autorizados con diferentes niveles de acceso a datos y actualizaciones. Su utilización y actualización de los datos permite mantener un control on-line de la actividad y dar visibilidad a los clientes. Los datos almacenados se convierten en una fuente única, compartida y exportable para posteriores usos en análisis de datos y procesos de mejora. Incorpora informes de actividad y de indicadores de calidad.

Tabular cusum control charts of chemical variables applied to the control of surface water quality

The aim of this study was to evaluate the application possibility of tabular CUSUM control charts in the quality control of chemical variables in surface water. It was performed bibliographic and field research to collect water samples from 2003 to 2009, totaling 30 samples, some monthly and others semi-annual in order to observe the variables that regulate water quality. It was found that these charts may be applied to control the quality of river water; showing to be effective in the perception of changes during the process, especially for small samples (n=1) which there is no repetition as in this research. It was also concluded that the Mandurim River does not presents significant levels of pollution.

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Effectiveness of case management and post-acute services in older people after hospital discharge

Objective: To evaluate the benefits of coordinating community services through the Post-Acute Care (PAC) program in older patients after discharge from hospital. Design: Prospective multicentre, randomised controlled trial with six months of follow-up with blinded outcome measurement. Setting: Four university-affiliated metropolitan general hospitals in Victoria. Participants: All patients aged 65 years and over who were discharged between August 1998 and October 1999 and required community services after discharge. Interventions: Participants were randomly allocated to receive services of a Post-Acute Care (PAC) coordinator (intervention) versus usual discharge planning (control). Main outcome measures: Comparison of quality of life and carer stress at one-month post-discharge, mortality, hospital readmissions, use of community services and community and hospital costs over the six months post-discharge. Results: 654 patients were randomised, and 598 were included in the analysis (311 in the PAC group and 287 in the control group). There was no difference in mortality between the groups (both 6%), but significantly greater overall quality-of-life scores at one-month follow-up in the PAC group. There was no difference in unplanned readmissions, but PAC patients used significantly fewer hospital bed-days in the six months after discharge (mean, 3.0 days; 95% CI, 2.1-3.9) than control patients (5.2 days; 95% CI, 3.8-6.7). Total costs (including hospitalisation, community services and the intervention) were lower in the PAC than the control group (mean difference, $1545; 95% CI, $11-$3078). Conclusions: The PAC program is beneficial in the transition from hospital to the community in older patients.

Evaluation of dog population in an urban area of Southeastern Brazil

Planning control programs, for diseases such as rabies requires information on the size and structure of the dog and cat population. In order to evaluate the dog population of the urban area of Araçatuba city, S. Paulo State, Brazil, a survey was conducted using a questionnaire to interview members of households. Eighty-eight districts were visited (37,778 houses) and the interview was possible at 77.93% of these. Human population size evaluated was 113,157 inhabitants. Houses that owned animals represented 55.2%, 26,926 of the animals concerned were dogs and 5,755 were cats. Of the dogs, 56.64% were 1-4 year olds and males represented 56.2% of the total population. Dog: person ratio was estimated at 2.8 dogs to every 10 persons, almost 3 times the ratio hitherto estimated and used in the planning of rabies vaccination campaigns.

Computational intelligence applications for future power systems

Power system planning, control and operation require an adequate use of existing resources as to increase system efficiency. The use of optimal solutions in power systems allows huge savings stressing the need of adequate optimization and control methods. These must be able to solve the envisaged optimization problems in time scales compatible with operational requirements. Power systems are complex, uncertain and changing environments that make the use of traditional optimization methodologies impracticable in most real situations. Computational intelligence methods present good characteristics to address this kind of problems and have already proved to be efficient for very diverse power system optimization problems. Evolutionary computation, fuzzy systems, swarm intelligence, artificial immune systems, neural networks, and hybrid approaches are presently seen as the most adequate methodologies to address several planning, control and operation problems in power systems. Future power systems, with intensive use of distributed generation and electricity market liberalization increase power systems complexity and bring huge challenges to the forefront of the power industry. Decentralized intelligence and decision making requires more effective optimization and control techniques techniques so that the involved players can make the most adequate use of existing resources in the new context. The application of computational intelligence methods to deal with several problems of future power systems is presented in this chapter. Four different applications are presented to illustrate the promises of computational intelligence, and illustrate their potentials.

A gestão dos custos da qualidade: Modelo A.B.Q.C. aplicado à Mercauto

Mestrado em Controlo e Gestão dos Negócios

A gestão orçamental como instrumento de avaliação do desempenho e apoio à decisão - o caso da Associação WavEC

Mestrado em Contabilidade

Atividades de direção de obra: uma análise crítica

O presente relatório tem como principal objetivo descrever os trabalhos efetuados durante o período de estágio curricular, realizado na empresa Garcia Garcia, S.A., nomeadamente em serviços de direção de obra. A obra onde se desenrolou o estágio tratou-se de uma empreitada com o propósito de construir novas instalações para uma empresa de transporte de mercadorias. Esta era composta por três edificações e ainda instalações de apoio. Este relatório começa por apresentar uma contextualização do estágio bem como uma descrição da empresa, onde este foi realizado, indicando a sua missão, os produtos e serviços prestados aos clientes e a sua estrutura organizacional e ainda o software utilizado. De seguida contextualiza-se e descreve-se a obra da Brunotir, fundamental para uma melhor perceção de todo o projeto de construção em que se inseriu o estágio. No seguimento do relatório apresenta-se o planeamento e a forma como ele é importante numa construção, bem como esta temática foi abordada ao longo do estágio curricular. Posteriormente são apresentados dois capítulos de relevância, incluindo as várias atividades executadas em obra e controlos desenvolvidos no decorrer da empreitada, nomeadamente o controlo de presenças, custos e da qualidade, ambiente e higiene e segurança. Tendo por base estes dois últimos capítulos, exibe-se um outro capítulo que contém uma análise critica, de algumas das tarefas realizadas em obra com o intuito de comparar o que foi feito relativamente com a teoria que foi adquirida ao longo dos anos de estudo e uma pesquisa realizada para o efeito. Por fim, elaboram-se algumas considerações acerca da experiência vivida e da informação absorvida durante o período de estágio, bem como o que foi alcançado tendo em conta os objetivos propostos para o desenvolvimento do estágio.

BIM-lean synergies in the management on MEP works in public facilities of intensive use – a case study

21st Annual Conference of the International Group for Lean Construction – IGLC 21 – Fortaleza, Brazil

Detection of all four dengue serotypes in Aedes aegypti female mosquitoes collected in a rural area in Colombia

The Aedes aegypti vector for dengue virus (DENV) has been reported in urban and periurban areas. The information about DENV circulation in mosquitoes in Colombian rural areas is limited, so we aimed to evaluate the presence of DENV in Ae. aegypti females caught in rural locations of two Colombian municipalities, Anapoima and La Mesa. Mosquitoes from 497 rural households in 44 different rural settlements were collected. Pools of about 20 Ae. aegypti females were processed for DENV serotype detection. DENV in mosquitoes was detected in 74% of the analysed settlements with a pool positivity rate of 62%. The estimated individual mosquito infection rate was 4.12% and the minimum infection rate was 33.3/1,000 mosquitoes. All four serotypes were detected; the most frequent being DENV-2 (50%) and DENV-1 (35%). Two-three serotypes were detected simultaneously in separate pools. This is the first report on the co-occurrence of natural DENV infection of mosquitoes in Colombian rural areas. The findings are important for understanding dengue transmission and planning control strategies. A potential latent virus reservoir in rural areas could spill over to urban areas during population movements. Detecting DENV in wild-caught adult mosquitoes should be included in the development of dengue epidemic forecasting models.

Hankintatoimen päätöksentekomallin kehittäminen rakennus-teollisuudessa

Työn tarkoituksena on kehittää omaperustaiseen toimitilarakentamiseen soveltuva hankintatoimen päätöksentekomalli. Keskeisintä on ohjata päätöksentekoprosessia pois osaoptimointipäätöksistä kohti yhteisiä tavoitteita tukevia päätöksiä. Hankintatoimen vaikutusmahdollisuus koko hankkeen onnistumiseen ja sujumiseen on keskeinen. Työssä analysoitiin nykyinen hankintaprosessi ja nykyiset hankintatoimeen vaikuttavat tekijät. Tieto kerättiin haastattelemalla hankintahenkilökuntaa, yhtä suurta toimittajaa sekä tutustumalla aiheesta tehtyihin kirjallisiin tutkimuksiin. Suurimpina ongelmien aiheuttajana on hankkeen eri osapuolten yhteistyön ohuus, hankkeen prosessien puutteellinen linkitys, kyvyttömyys vaikuttaa päätöksiin oikealla hetkellä, suunnittelun ohjaus ja johtaminen, lyhytjänteisyys eri osapuolten kesken ja hankinnassa käytettävien kriteereiden suppeus. Työn tuloksena muodostettiin hankintatoimen päätöksentekomalli, jossa hanke on jaettu ajallisesti neljään osittain päällekkäiseen vaiheeseen. Vaiheet ovat ideavaihe, suunnitteluvaihe, joka on myös prosessien päätöksentekovaihe, rakentamisvaihe, joka on prosessien ohjausvaihe, sekä jälkihoitovaihe. Vaiheiden sisältämät tehtävät, tehtävien tavoitteet, käytettävät keinot, tehtävän vastuut ja osallistujat sekä tehtävään liittyvän päätöksenteon kriteerit sisältyvät malliin. Keskeisimpiä asioita tehokkaan hankintatoimen rakentamisessa on toimiva ja strategisesti johdettu hankintaorganisaatio, toimittajasuhteiden syvyys ja suunnittelun johtamisen sekä ohjaamisen hallinta.