Modeling and simulation of a Pick&Place system with OpenModelica

Dissertação de mestrado integrado em Mechanical EngineeringModeling of multi-physical systems is a task that may be particularly complex, especially when the systems under analysis present several technologies such as pneumatics, hydraulics, mechanical systems, electrical systems, among others. This MSc dissertation intends to present an approach for modelling a multi-physics system, using Modelica modeling language, focusing the connection of models, by using programming logic as ever as needed, as well as the obtaining of some guidelines for modelling multi physical systems in a systematic way. For the mentioned purpose, it is chosen, as basis for starting studies, a Pick&Place system using the modeling language Modelica and the simulation software OpenModelica whose conception was based on a manipulator’s model existing in the main library of OpenModelica software. Based in the initial case study, some approaches are presented for illustration about how to achieve the above-mentioned purpose, by changing and adding information, from initial considered models, to the considered final ones using simulation techniques and interpreting respective obtained results. Throughout this work, the potentialities presented by the language are explored, bringing together the concept of a robotic manipulator inserted in Modelica's main library with the outline of a detailed control, in which the concepts of inverse kinematics and pick&place are inserted. The incorporation with a global system is also scrutinized, in which the manipulator model is associated with a gripper and conveyor belts, designed in a system with logical sequencing.A modelação de sistemas multi-físicos é uma tarefa que pode ser particularmente complexa, especialmente quando os sistemas em análise apresentam diversas tecnologias, tais como pneumática, hidráulica, sistemas mecânicos, sistemas elétricos, entre outros. Esta dissertação de mestrado pretende apresentar uma abordagem para a modelação de um sistema multi-físico, utilizando a linguagem de modelação Modelica, focando na ligação de modelos e recorrendo à lógica de programação sempre que necessário, bem como a obtenção de algumas orientações para a modelação de sistemas multi-físicos de uma forma sistemática. Para o efeito, é escolhido, como base de estudo inicial, um sistema Pick&Place utilizando a linguagem de modelação Modelica e o software de simulação OpenModelica, cuja conceção foi baseada num modelo de manipulador existente na biblioteca principal do software OpenModelica. Com base no caso de estudo inicial, são apresentadas algumas abordagens para ilustrar a forma de atingir o objetivo acima referido, com alteração e adição de informação, desde os modelos iniciais considerados, até aos modelos finais desenvolvidos, utilizando técnicas de simulação e interpretando os respetivos resultados obtidos. Ao longo deste trabalho, as potencialidades apresentadas pela linguagem são exploradas, reunindo o conceito de um manipulador robótico inserido na biblioteca principal de Modelica com o delineamento de um controlo detalhado, em que os conceitos de cinemática inversa e pick&place se inserem. A incorporação com um sistema global também é escrutinada, no qual o modelo do manipulador se encontra associado com um gripper e tapetes transportadores, projetados num sistema com sequenciamento lógico

Implementation of business intelligence tools using open source approach

Discovering business intelligence is the modern organization’s way of gaining competitive advantage in their market, supported by Decisions Support Systems or Business Intelligence Systems. The first step in any decision support system is to create the repository of data for the system to collect and display any information requested. This repository is the source of all business intelligence and implementing it requires the right software tools, essential for the data warehouse. Therefore, when choosing the software tool, the project size, budget constraints and risks should be kept in mind. Overall the right choice depends on the organization’s needs and ambitions. The essential work to be done here is to demonstrate that open source software can be an accurate and reliable tool to implement data warehouse projects. The two ETL solutions used were: • Pentaho Kettle Data Integration Community Editions (Open Source Software) • SQL Server 2005 Integrations Services (SSIS) Enterprise Edition (Proprietary Software) The proprietary, commercial software in question (as well as others) is widely used. However, an open source solution has key features recognized by organizations worldwide and this work will show the different functionalities and benefits of this open source approach.Nas organizações a descoberta de conhecimento do negócio é o processo para alcançar vantagem competitiva sobre os seus concorrentes, e esta é apoiada por Sistemas de Suporte á decisão ou por Business Intelligence termo atualmente em voga.A primeira coisa a fazer em qualquer tipo de sistema de apoio à decisão é criar o repositório de dados de informação onde o sistema vai recolher e mostrar todas as informações solicitadas. Este repositório é a fonte de todo o conhecimento do negócio, e a sua construção exige as ferramentas de software corretas para o desenvolvimento do data warehouse. Deve-se por isso ao escolher a ferramenta de software pensar nos requisitos para a seleção do software do mercado, a escolha do software envolve o tamanho do projecto, orçamento, ou riscos a tomar em mente. Globalmente, a escolha certa depende das necessidades de organização e suas ambições. O trabalho essencial a ser feito aqui é demonstrar que o software open source pode ser uma ferramenta fiavél e eficaz para implementar projetos de data warehouse. As duas soluções ETL utilizadas foram: • Pentaho Data Integration Chaleira Editions Comunidade (Open Source Software) • SQL Server 2005 Integration Services (SSIS) Enterprise Edition (Software Proprietário) O software proprietario, comercial em questão (assim como outros) é amplamente utilizado. No entanto, uma solução de open source tem características fundamentais que são reconhecidas por organizações em todo o mundo e este trabalho irá mostrar as diferentes funcionalidades e benefícios desta abordagem de software open source

Downlink MIMO-NOMA with and without CSI: A short survey and comparison

Non-orthogonal multiple access (NOMA) concatenated with multiple-input multiple-output (MIMO) or with massive MIMO, has been under scrutiny for both broadband and machine-type communications (MTC), even though it has not been adopted in the latest 5G standard (3GPP Release 16), being left for beyond 5G. This paper dwells on the problems causing such cautiousness, and surveys different NOMA proposals for the downlink in cell-centered systems. Because acquiring channel state information at the transmitter (CSIT) may be hard, open-loop operation is an option. However, when users clustering is possible, due to some common statistical CSI, closed-loop operation should be exploited. The paper numerically compares these two operating modes. The users are clustered in beams and then successive interference cancellation (SIC) separates the power-domain NOMA (PD-NOMA) signals at the terminals. In the precoded closed-loop system, the Karhunen-Loève channel decomposition is used assuming that users within a cluster share the same slowly changing spatial correlation matrix. For a comparable number of antennas the two options perform similarly, however, while in the open-loop downlink the number of antennas at the BS is limited in practice, this restriction is waived in the precoded systems, with massive MIMO allowing for a larger number of clusters.info:eu-repo/semantics/acceptedVersio

Challenges in Sustainability: Another Brick in the Wall

We are proud of Challenges in Sustainability's (CiS) fruitful start. A variety of quality research articles, editorials and notes have been published on a range of themes and topics, including sustainability governance [1], improved cookstoves [2,3], the potentials of 3-D printing in the global South [4], and the need for consiliences between the natural and social sciences and the humanities [5], to name just a few. Furthermore, despite the journal's short history, we are pleased with its high visibility, where numerous articles have been viewed or downloaded over 1200 times since publication. The high exposure rate and the quality of publications affirm our aspirations for stable growth and development in the future

THE POLICE POWER AND COMPLIANCE IN A LEGAL STATE AND THEIR INFLUENCE ON THE ANTI-CORRUPTION LAW (LAW 12,846 DATED AUGUST 1, 2013).

ABSTRACT   This scientific paper deals with the intensity and extent of police power exercised by the State of Law on issues relating to anti-corruption practices that should be adopted by companies and their managers, especially in light of Law 12,846 dated August 1, 2013, formal introducer in Brazil of compliance practices. Compliance is evidence of self-regulation granted by the State to the companies for the effectiveness of the police power internally in companies, for themselves, through compliance programs containing the code of conduct and ethics and internal policies to spread the good conduct and ethics in business and preventing acts of corruption.   KEYWORDS: Compliance; Anti-Corruption Act; Police Power; Ethics.   RESUMO   O presente artigo científico aborda a intensidade e extensão do poder de polícia exercido pelo Estado de Direito nos temas relativos às práticas anticorrupção que devem ser adotadas pelas empresas e seus administradores, especialmente diante da Lei n º 12.846 de 1º de agosto de 2013, introdutora formal no Brasil das práticas de compliance. O compliance é a evidência da autorregulação conferida pelo Estado às empresas, para que o poder de polícia seja exercido internamente nas empresas, por elas mesmas, através de programas de compliance contendo código de conduta e ética e políticas internas, com o objetivo de disseminar a boa conduta e ética nos negócios e coibir atos de corrupção.   PALAVRAS-CHAVE: Compliance; Lei Anticorrupção; Poder de Polícia; Ética

THE CONTRIBUTION OF COMPLIANCE PRACTICES TO THE SOCIAL ROLE OF THE COMPANY.

ABSTRACT The target of this article is to research the origin of the company as promoter of social role and its relations with compliance and the intense economic globalization, its influence and contribution to the fortification of the social role of the company in Brazil.  The research was developed via bibliography and interpretation of legal articles and reaching a historical perspective. This allowed the conclusion that compliance practices duly utilized by the companies to monitor the fulfillment of legislation, the edition of internal policies and codes of ethics and conduct are attitudes of social responsibility of the company, allowing its employees  and the community in general to live in a world worth living and more respectful, among other positive factors.   KEYWORDS: Social Role of the Company; Compliance Practices; Economic Globalization; Regulator State. Self-regulation; Corruption; Code of Conduct; Ethics.     RESUMO O presente artigo tem por objetivo pesquisar as origens da empresa como promotora da função social e suas relações com o compliance e a intensa globalização econômica, sua influência e contribuição ao fortalecimento da função social da empresa no Brasil. A pesquisa foi desenvolvida através de consulta bibliográfica e interpretação de textos jurídicos, buscando também uma perspectiva histórica, o que permitiu concluir que as práticas de compliance utilizadas efetivamente pelas empresas para monitorar o cumprimento da legislação, instituir políticas internas e códigos de ética e conduta são atitudes de responsabilidade social da empresa que permitem aos seus colaboradores e à população em geral viver em um mundo mais digno e mais respeitoso, entre outros fatores positivos. PALAVRAS-CHAVE: Função Social da Empresa; Práticas de Compliance; Globalização Econômica; Estado Regulador; Autorregulação; Corrupção; Código de Conduta; Ética

Student-centered e-Learning: designing curricular units in higher education using multiple intelligences theory

The role of Higher Education (HE) in society has been irreversibly transformed by recent technological advances and the widespread access to the Internet, particularly concerning the knowledge production and to the training of qualified workforces. Higher Education Institutions (HEI) have been reacting slowly, in a “traditional” way, both to the fragmentation of their target audience and to the ever changing requisites of the global labour market. An example of that is the design of Curricular Units (CU) in e-Learning in HE that remains, in most cases, a teacher-centered model, one-size fits all. We consider that e-Learning can indeed be a useful platform to promote learning that meets the needs and expectations of a heterogeneous audience as well as the labour market. It is, however, necessary to address some of the problems that hinder its success, namely the high dropout rates, which in some cases can reach up to 50% [1]. Within this perspective and to promote a more engaging and personalised learning system that accommodates different ways of learning, we bring to discussion the Multiple Intelligences (MI) Theory [3] as a guide to the instructional design of CU in e-Learning in HE. MI Theory application in e- Learning has been reported to promote intrinsic motivation [4], which is related to the increase of retention rates, a critical factor for HEI, both regarding their economy and credibility. In this context, we defined the following research question: is it possible to rethink the design of CU for e-Learning in HE based on MI theory to promote student-centered learning? Having this issue as a compass, our project’s primary goal is to develop a framework that supports student-centered education, to guide the instructional design of CU for e-Learning in HE, based on the MI theory. We will use a Development Research methodology consisting of the following steps: 1. Problem analysis, 2. Solution design based on the theoretical framework, 3. Develop (prototype) a solution, 4. Evaluate and test, 5. Reflect and document the general design principles. With this study we intend: (i) to contribute to the discussion and practical application of MI in e- Learning in HE, promoting student-centered learning; (ii) to promote wider awareness of the learning processes [5] both by the students and by the HE teachers; (iii) to contribute to ensure greater intrinsic motivation [4] and learning, helping to reduce dropout rates in e-Learning in HE. The need to promote a diversity of intelligences increasingly necessary for the integration in the global labour market and the training of individuals able to contribute to solve the complex problems of our societies, aligned to the widely accepted realization that HE needs to engage in considerable structural changes, makes it for an interesting time to investigate the application of Multiple Intelligences Theory in HE instructional development. In this paper, we present a research proposal with the aim to promote discussion on the subject, receive feedback from peers and audit the interest of potential future partners’ contributions as a way to enrich the research project.EU's programme ERASMUS+CIEC – Research Centre on Child Studies, IE, UMinho (FCT R&D unit 317), PortugalERASMUS+ "Better e-Learning for All", Project number: 2015-1-TR01-KA204-02195

Como e quando abordar

A regurgitação mitral é atualmente a anormalidade valvular mais frequente a nível mundial, podendo ser aguda ou crónica. A presente monografia tem como objetivo fazer uma revisão da regurgitação mitral crónica, focando-se essencialmente no seu tratamento. A regurgitação mitral crónica, se não tratada, contribui para o aparecimento de disfunção sistólica e diastólica que por fim leva à insuficiência cardíaca. A principal classificação envolve a divisão em regurgitação mitral primária/orgânica e secundária/funcional. A cirurgia é o gold standard do tratamento da regurgitação mitral primária, mas apresenta resultados equívocos na regurgitação mitral funcional. Nestes, a terapêutica baseia-se essencialmente no tratamento médico da insuficiência cardíaca e na terapia de ressincronização cardíaca, ficando a cirurgia reservada para último caso. Contudo, muitos pacientes não são candidatos adequados à cirurgia. Um em cada dois pacientes não pode ser operado em consequência do risco cirúrgico muito alto ou até mesmo proibitivo. O desenvolvimento recente de técnicas de reparação minimamente invasivas por via percutânea veio criar uma opção adicional para estes pacientes.Mitral regurgitation is currently the most frequent valvular abnormality worldwide and may be acute or chronic. This monograph aims at reviewing chronic mitral regurgitation, focusing essentially on its treatment. Chronic mitral regurgitation, if left untreated, contributes to the development of systolic and diastolic dysfunction that ultimately leads to heart failure. The main classification involves the division into primary/organic and secondary/functional mitral regurgitation. Surgery is the gold standard for the treatment of primary mitral regurgitation, but presents equivocal results in functional mitral regurgitation. In these, the therapy is based essentially on the medical treatment of heart failure and cardiac resynchronization therapy, leaving the surgery reserved as a last resort. However, many patients are not suitable candidates for surgery. One in two patients cannot be operated as a result of very high or even prohibitive surgical risk. The recent development of minimally invasive percutaneous repair techniques has created an additional option for these patients