Development and update of aerospace applications in partitioned architectures

Tese de mestrado em Engenharia Informática, apresentada à Universidade de Lisboa, através da Faculdade de Ciências, 2011Para enfrentar os desafios e requisitos impostos por missões espaciais futuras, a indústria aeroespacial tem vindo a seguir uma tendência para adoptar arquitecturas computacionais inovadoras e avançadas, cumprindo requisitos estritos de tamanho, peso e consumo energético (SWaP) e assim diminuir o custo total da missão assegurando a segurança na operação e a pontualidade do sistema. A arquitectura AIR (ARINC 653 in Space Real-Time Operating System), desenvolvida para responder ao interesse da indústria aeroespacial, particularmente da Agência Espacial Europeia (ESA), fornece um ambiente compartimentado para o desenvolvimento e execução de aplicações aeroespaciais, seguindo a noção de compartimentação temporal e espacial, preservando os requisitos temporais das aplicações e a segurança na operação. Durante uma missão espacial, a ocorrência de eventos inesperados ou alterações aos planos da missão introduz novas restrições. Assim, é de grande importância ter a possibilidade de alojar novas aplicações na plataforma computacional de veículos espaciais ou modificar aplicações já existentes em tempo de execução e, deste modo, cumprir os novos requisitos ou melhorar as funções do veículo espacial. O presente trabalho introduz na arquitectura AIR o suporte à inclusão e actualização de novas funcionalidades ao plano de missão durante o funcionamento do sistema. Estas funcionalidades podem ser formadas por componentes de software modificados ou pelos requisitos temporais correspondentes. O melhoramento da arquitectura AIR com a possibilidade de realizar actualizações de software requer um ambiente e ferramentas de desenvolvimento adequados. Neste sentido, a metodologia para o desenvolvimento de software em sistemas baseados na arquitectura AIR é revisitada.To face the challenges and requirements imposed by future space missions, the aerospace industry has been following the trend of adopting innovative and advanced computing system architectures fulfilling strict requisites of size, weight and power consumption (SWaP) thus decreasing the mission overall cost and ensuring the safety and timeliness of the system. The AIR (ARINC 653 in Space Real-Time Operating System) architecture has been defined dependent on the interest of the aerospace industry, especially the European Space Agency (ESA). AIR provides a partitioned environment for the development and execution of aerospace applications, based on the idea of time and space partitioning (TSP), aiming the preservation of the application requirements, timing and safety. During a space mission, the occurrence of unexpected events or the change of the mission plans introduces new constraints to the mission. Therefore, it is paramount to have the possibility to host new applications in spacecraft onboard computer platform, or modify the existing ones in execution time, thus fulfilling new requirements or enhancing spacecraft functions. The work described on this thesis introduces in the AIR architecture the support for the inclusion of new features to the mission plan during the system operation. These new features may be composed of modified software components or the corresponding timing requirements. The improvement of the AIR architecture with the ability to perform software updates requires a suitable development environment and tools. Therefore, the methodology for software development in AIR-based systems, regarding the build and integration process, is reexamined

A New Scheme for Spreading & De-spreading in the Direct Sequence Spread Spectrum Mechanism

Direct Sequence Spread Spectrum (DSSS) and Frequency Hopping Spread Spectrum (FHSS) techniques are widely used to implement code-division multiple access (CDMA) in wireless communication systems.  Both DSSS and FHSS systems help reducing the effects of interference on the transmitted information making it robust against channel impairments.  DSSS uses a signal bandwidth that is much broader than the information signal bandwidth.  Traditionally, the wide band signal is generated by multiplying the narrowband information signal with a binary code, often designated as a spreading code, to generate the wideband signal that is transmitted. The original information signal can be recreated at the receiver by multiplying the received wideband signal by the same binary code (now designated as a de-spreading code) used to generate the wideband transmitted signal.  To extract the original information signal, the spreading and de-spreading codes must be in synchronism at the receiver and amplitude match with each other.  A new modification for the direct sequence spread spectrum is proposed in this paper. The mechanism introduced in this approach implicates generating the wideband signal by circularly shifting the spreading code (PN) by n places, where n represents the value of the current byte of information signal. The yielded signal is modulated using BPSK modulator before transmitting it.  The original information signal is extracted at the receiver by correlating the received signal (which is actually the original spread sequence circularly shifted by n places) with a locally generated replica of the spreading code.  The position of the maximum value of the cross-correlation vector represents the value of the information signal byte.  The proposed configuration has been implemented using Simulink simulator and the obtained results show that its performance is identical with the conventional DSSS

Anuário Científico – 2011 Resumos de Artigos, Comunicações, Livros e Monografias de Mestrado

Há mais de uma década que o ISEL vem firmando a sua aposta na busca e na divulgação do conhecimento científico na área da Engenharia, assentes na inovação e no desenvolvimento de novas tecnologias, procurando que os resultados alcançados nos projetos de investigação tenham impacto na indústria e na vida dos cidadãos como forma de responder às necessidades cada vez mais complexas e exigentes da sociedade no seu todo. Nesta relação, o ISEL tem contribuído para a evolução da produção e do conhecimento científicos, assumindo, por vezes numa posição de vanguarda, ora em iniciativa própria ora em parceria com diversas instituições, quer de ensino quer do tecido empresarial. Como forma de dar visibilidade ao trabalho desenvolvido pelos docentes (com afiliação ISEL) e alunos do ISEL, o Anuário Científico tornou-se num meio de divulgação privilegiado, estando disponível em acesso livre a toda a comunidade científica mas também a todos os cidadãos, podendo ser consultado em formato eletrónico no sítio institucional do ISEL, bem como no Repositório Científico do Instituto Polítécnico de Lisboa.1 Fazendo uma análise comparativa em relação às publicações referentes a 2009 e a 2010, constata-se que o número de publicações duplicou em 2011

THE INFLUENCE OF CONDUCTIVE PASSIVE PARTS ON THE MAGNETIC FLUX DENSITY PRODUCED BY OVERHEAD POWER LINES

There has been apprehension about the possible adverse health effects resulting from exposure to power frequency magnetic field, especially in the overhead power lines vicinity. Research work on the biological effects of magnetic field has been substantial in recent decades. Various international regulations and safety guidelines, aimed at the protection of human beings, have been issued. Numerous measurements are performed and different numerical algorithms for computation of the magnetic field, based on the Biot-Savart law, are developed. In this paper, a previously developed 3D quasistatic numerical algorithm for computation of the magnetic field (i.e. magnetic flux density) produced by overhead power lines has been improved in such a way that cylindrical segments of passive conductors are also taken into account. These segments of passive conductors form the conductive passive contours, which can be natural or equivalent, and they substitute conductive passive parts of the overhead power lines and towers. Although, their influence on the magnetic flux density distribution and on the total effective values of magnetic flux density is small, it is quantified in a numerical example, based on a theoretical background that was developed and presented in this paper

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic

A Systematic Mapping Study of Cloud Resources Management and Scalability in Brokering, Scheduling, Capacity Planning and Elasticity

Cloud computing allows for resource management through various means. Some of these include brokering, scheduling, elasticity and capacity planning and these processes helps in facilitating service utilization. Determining a particular research area especially in terms of resources management and scalability in the cloud is usually a cumbersome process for a researcher, hence the need for reviews and paper surveys in identifying potential research gaps. The objective of this work was to carry out a systematic mapping study of resources management and scalability in the cloud. A systematic mapping study offers a summarized overview of studies that have been carried out in a particular area of interest. It then presents the results of such overviews graphically using a map. Although, the systematic mapping process requires less effort, the results are more coarse-grained. In this study, analysis of publications were done based on their topics, research type and contribution facets. These publications were on research works which focused on resource management, scheduling, capacity planning, scalability and elasticity. This study classified publications into research facets viz., evaluation, validation, solution, philosophical, option and experience and contribution facets based on metrics, tools, processes, models and methods used. Obtained results showed that 31.3% of the considered publications focused on evaluation based research, 19.85% on validation and 32% on processes. About 2.4% focused on metric for capacity planning, 5.6% focused on tools relating to resource management, while 5.6 and 8% of the publications were on model for capacity planning and scheduling method, respectively. Research works focusing on validating capacity planning and elasticity were the least at 2.29 and 0.76%, respectively. This study clearly identified gaps in the field of resources management and scalability in the cloud which should stimulate interest for further studies by both researchers and industry practitioners

Review of MVDC applications, technologies, and future prospects

This paper presents a complete review of MVDC applications and their required technologies. Four main MVDC applications were investigated: rail, shipboard systems, distribution grids, and offshore collection systems. For each application, the voltage and power levels, grid structures, converter topologies, and protection and control structure were reviewed. Case studies of the varying applications as well as the literature were analyzed to ascertain the common trends and to review suggested future topologies. For rail, ship, and distribution systems, the technology and ability to implement MVDC grids is available, and there are already a number of case studies. Offshore wind collection systems, however, are yet able to be implemented. Across the four applications, the MVDC voltages ranged from 5–50 kV DC and tens of MW, with some papers suggesting an upper limit of 100 kV DC and hundreds of MV for distribution networks and offshore wind farm applications. This enables the use of varying technologies at both the lower and high voltage ranges, giving flexibility in the choice of topology that is required required

Enhanced face detection framework based on skin color and false alarm rejection

Fast and precise face detection is a challenging task in computer vision. Human face detection plays an essential role in the first stage of face processing applications such as recognition tracking, and image database management. In the applications, face objects often come from an inconsequential part of images that contain variations namely different illumination, pose, and occlusion. These variations can decrease face detection rate noticeably. Besides that, detection time is an important factor, especially in real time systems. Most existing face detection approaches are not accurate as they have not been able to resolve unstructured images due to large appearance variations and can only detect human face under one particular variation. Existing frameworks of face detection need enhancement to detect human face under the stated variations to improve detection rate and reduce detection time. In this study, an enhanced face detection framework was proposed to improve detection rate based on skin color and provide a validity process. A preliminary segmentation of input images based on skin color can significantly reduce search space and accelerate the procedure of human face detection. The main detection process is based on Haar-like features and Adaboost algorithm. A validity process is introduced to reject non-face objects, which may be selected during a face detection process. The validity process is based on a two-stage Extended Local Binary Patterns. Experimental results on CMU-MIT and Caltech 10000 datasets over a wide range of facial variations in different colors, positions, scales, and lighting conditions indicated a successful face detection rate. As a conclusion, the proposed enhanced face detection framework in color images with the presence of varying lighting conditions and under different poses has resulted in high detection rate and reducing overall detection time

Photovoltaic generation with energy storage integrated into the electric grid: modelling, simulation and experimentation

Esta tese apresenta o trabalho e resultados da investigação desenvolvida sobre conversão fotovoltaica com armazenamento de energia integrado em rede elétrica. Começa por apresentar a modelação, simulação e validação da conversão fotovoltaica e inversores com injeção para a rede. Descreve também seguidamente o processo de conceção, construção, comissionamento e desenvolvimento experimental das infraestruturas hoje existentes na Cátedra Energias Renováveis da Universidade de Évora, no que diz respeito às duas microgrids desenvolvidas no âmbito do projeto europeu PVCROPS. Estas microgrids são compostas, de forma geral, por um elemento de produção fotovoltaica, um elemento de armazenamento de energia, uma ligação à rede e um sistema de controlo e datalogging. Relativamente ao armazenamento de energia, esta tese aborda e caracteriza ainda as duas tecnologias instaladas: a bateria de iões de lítio e a bateria de fluxo redox de vanádio. Estas microgrids servem assim para implementação e validação de uma estratégia de gestão de energia tendo como objetivo a maximização do autoconsumo, cujos conteúdos são apresentados no capítulo 4. Depois das conclusões, no último capítulo, apontam-se ainda as linhas de investigação futuras de maior potencial, na sequência do trabalho desenvolvido e apresentado nesta tese; Photovoltaic generation with energy storage integrated into the electric grid: Modelling, simulation and experimentation Abstract: This thesis presents the work and results of the research developed on photovoltaic conversion with energy storage integrated into the electric grid. It begins by presenting the modeling, simulation and validation of the photovoltaic conversion and inverters with injection into the electric grid. It also describes the process of design, construction, commissioning and experimental development of the existing infrastructures in the Renewable Energies Chair of the University of Évora, with respect to the two microgrids developed under the European project PVCROPS. These microgrids are generally composed by a photovoltaic production element, an energy storage element, a grid connection and a control and datalogging system. Regarding energy storage, this thesis also discusses and characterizes the two installed technologies: the lithium-ion battery and the redox-flow vanadium battery. These microgrids thus serve to implement and validate an energy management strategy with the objective of maximizing self-consumption, the contents of which are presented in Chapter 4. Following the conclusions, in the last chapter are pointed the future research lines of greater potential, following the work developed and presented in this thesis

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic