A5001523210- Adaptive Control of Nonlinear Systems
- Advanced Control Systems Optimization
- Underwater Vehicles and Communication Systems
- Fault Detection and Control Systems
- Distributed Control Multi-Agent Systems
- Stability and Control of Uncertain Systems
- Mobile Agent-Based Network Management
- Robotic Path Planning Algorithms
- Distributed systems and fault tolerance
- Neuroscience and Music Perception
- Intestinal and Peritoneal Adhesions
- Adaptive Dynamic Programming Control
- Music and Audio Processing
- Nerve injury and regeneration
- Pharmaceutical and Antibiotic Environmental Impacts
- Aerospace Engineering and Energy Systems
- Antibiotic Resistance in Bacteria
- Antibiotics Pharmacokinetics and Efficacy
- Neural dynamics and brain function
- Periodontal Regeneration and Treatments
- Rocket and propulsion systems research
- Spinal Cord Injury Research
- Graphene and Nanomaterials Applications
- Bone Tissue Engineering Materials
- Electrospun Nanofibers in Biomedical Applications
Universidade do Porto
2005-2023
INESC TEC
2018-2019
Instituto Superior de Engenharia do Porto
2005
Polytechnic Institute of Porto
2005
The C3I (command, control, communication and information) Neptus framework which is being developed at the Underwater Systems Technology Laboratory (USTL/LSTS) presented. a modular mixed initiative (human operators in control loop) for operation of heterogeneous teams vehicles such as autonomous remotely operated underwater, surface, land, air vehicles. composed mission vehicle planning, supervision, post-mission analysis modules are provided services across network. This paper focus mainly...
This paper describes the development of a C3I (communications, command, control and intelligence/information) infrastructure, taking place at Underwater Systems Technology Laboratory (LSTS) FEUP. Neptus framework, goal is to support coordinated operation heterogeneous teams, which include autonomous remotely operated underwater, surface, land, air vehicles people. People perform fundamental role, not only in case vehicles, but also with where mix-initiative requirement. The operational...
This paper reports the design of a new remotely operated underwater vehicle (ROV), which has been developed at Underwater Systems and Technology Laboratory (USTL) - University Porto. is contextualized on KOS project (Kits for operations). The main issues addressed here concern directional drag minimization, symmetry, optimized thruster positioning, stability layout ROV components. aimed optimizing performance set different operational scenarios. achieved through modular configurations are...
Developing obstacle avoidance algorithms for low cost Autonomous Underwater Vehicles using single beam returned echo sounder sonar is a difficult task. In this paper, we propose an intelligent algorithm that maps the obstacle, avoids it with guarantee will not get stuck and efficiently traverses path towards destination navigation functions. We present complete system help of hybrid automata, probabilistic mapping Simulation results are presented showing validity our approach.
The Attainable Set Model Predictive Control scheme is discussed and shown to meet the needed system behavioral properties while satisfying real-time requirements underlying control of Autonomous Underwater Vehicle formations, including strict on-board resource constraints. More specifically, proposed approach targets on-line computational complexity relies on taking advantage problem time invariant elements, in order replace, as much possible, by off-line computation, guaranteeing asymptotic...
This paper describes the modeling and control of a Remotely Operate Vehicle (ROV), as part effort performed in context Inspection Underwater Structures (IES) project. The main objective IES is implementation ROV-based system for inspection underwater structures. project 3 yearlong funded by Portuguese R&D program Praxis XXI. After addressing complete model, including body model thruster we present design nonlinear controller based on Sliding Modes methodology, which allow vehicle to move...
The integrated maneuver and control structures for a Remotely Operated Vehicle are presented in the context of developments "IES - Inspection Underwater Structures" project. project concerns design implementation an advanced low cost system inspection underwater based on remotely operated vehicle (ROV). First, subsystems IES described. Second, example mission is outlined. Third, architecture briefly sketched formalized. Fourth, regulation tracking controllers this discussed. uses nonlinear...
In this article, we focus on the motion control of an AUV formation in order to track a given path along which data will be gathered via computationally efficient architecture designed based special MPC scheme. This scheme enables conciliation onboard resources optimization with state feedback - deal typical priori high uncertainty while managing low computational budget otherwise might have very significant impact power consumption. The key idea is pre-compute known time invariant for...
An impulsive control formulation suitable for analyzing hybrid systems is presented. Besides a continuous evolution, the trajectory of an system may also exhibit jumps. The jump well characterized in this framework. These jumps can be interpreted as discrete evolution system. Several examples modeled framework are given. formation problem, regarded detailed. Finally, overview important classes results available systems, notably, stability and optimality, attest importance paradigm systems....
In this article, a Model Predictive Control (MPC) scheme that, by taking advantage of the control problem time invariant ingredients, replaces as much possible on-line computational burden conventional schemes, off-line computation, is presented and its asymptotic stability shown. The generated data stored onboard in look-up tables recruited adapted with small computation effort according to real-time context specified communicated or sensed data. This particularly important increasing range...
Dysmenorrhea is the most prevalent gynecological symptom in menopausal women. Currently defined as menstrual cramps, it on list of main complaints consultations. A sub-classification forgotten medical dictionaries membranous dysmenorrhea (MD), which corresponds to elimination membranes through vaginal canal. The definitive diagnosis requires anatomopathological study, and abortion differential diagnosis. As there are few cases literature, this study aims present a series eight cases,...
In this article, we focus on the motion control of an AUV formation in order to track a given path along which data will be gathered. A computationally efficient architecture enables conciliation onboard resources optimization with state feedback control-to deal typical priori high uncertainty-while managing low computational and power budgets. To meet these very strict requirements, novel Model Predictive Control (MPC) scheme is used. The key idea pre-compute known time invariant for number...
Processing musical meter—the organization of time into regular cycles strong and weak beats—requires abstraction from the varying rhythmic surface. Several studies have investigated whether meter processing requires attention, or if it can be both pre-attentive attentive. While findings on temporal expectation (processing per se) indicate benefits in complex, dual-task contexts (meter used for orientation) consistently report processing. Also, while surface-based approaches to aided by...