A methodological approach in order to support decision-makers when defining Mobility and Transportation Politics

Nowadays Portugal is under a large process of creation/revision of studies and plans related with land use and territorial planning, mainly due to the end of the lifetime period of the actual Municipal Master Plan, but also because of the creation of the new Metropolitan Authorities of Transportation, which will require Mobility Plans. Even though the Portuguese law doesn’t impose these Mobility Plans at the present moment, there is a general feeling about the importance of the mobility system for the society and economics in general. This is the case in highly density areas, where the need and complexity of the system requires these specific studies in order to obtain an efficient management; or in the case of low-density areas where the risk of loosing competitiveness is too high to ignore the importance of the transportation and mobility system, and the advantage of gaining local and regional competitiveness might increase the importance of the municipality in regional context. This paper intends to provide an innovative approach regarding the provision, at an early stage, of technical support to decision-makers in order to define Mobility and Transportation Policies. The opportunity provided by using adapted SWOT analysis (among others) to identify weakening or potential factors, and how to take advantage of the results, always using a cause and effect approach and a coherent policy in order to obtain high quality and effective studies and politics. The methodology relies on a two-stage process. In the first stage a summary diagnose is provided, using inputs which are supposed to well characterise the territory’s mobility patterns. Afterwards, in a second phase, these are inter-related and evaluated in order to build-up a table of options, where policies are proposed with a careful attention to its qualitative cross impact with the measures and objectives intended to be achieved. The proposed methodology was applied in the Alcobaça´s Municipality case study, which provided different lines of action in diverse subjects, such as, public and private transportation networks, parking policies and organisation, and territory competitiveness. This study was particularly relevant, since this Municipality is under great pressure of its neighbour municipalities, has a low level of regional importance and a low intra-municipal cohesion. Finally, the general opinion of the decision-makers about this technical approach is presented. Keywords: Mobility; Transportation; Land Planning and Policies; Decision-making Support

Research issues in biological inspired flying robots

Biological inspired locomotion robotics is an area reveal-ing an increasing research and development. In spite of all the recent engineering advances, robots lack capabilities with respect to agility, adaptability, intelligent sensing, fault-tolerance, stealth, and utilization of in-situ power resources compared to some of the simplest biological organisms. The general premise of bio-inspired engineer-ing is to distill the principles incorporated in successful, nature-tested mechanisms, capturing the biomechatronic designs and minimalist operation principles from nature’s success strategies. Based on these concepts, several robots that adopt the same locomotion principles as animals, like legs for walking, fins for swimming, segmented body for creeping and peristaltic movements for worm like loco-motion, were developed in the last years. Recently, flap-ping wings robots are also stating to make their debut but there are several problems that need to be solved before they may fly autonomously. This paper analyses the ma-jor developments in this area and the directions towards future research.N/

Optimal energy gaits for quadrupeds under variable locomotion conditions

This paper studies the adoption of periodic gaits of quadruped animals by multilegged artificial locomotion exercise. The purpose is to determine the gait to adopt at different velocities, under distinct robot and locomotion conditions, based on two performance measures. A set of experiments reveals the influence of the gait and the body and ground parameters upon the proposed indices. It is verified that the gait should be adapted to the robot forward velocity and to the conditions under which the robot is moving. The experiments also reveal that a gait that decreases the energy consumption generally implies an increase in the trajectory following errors.N/

An Overview of Legged Robots

The objective of this paper is to present the evolution and the state-of-theart in the area of legged locomotion systems. In a first phase different possibilities for mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase an historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones on the technological and scientific progress. After this historical timeline, some of the present day systems are examined and their performance is analyzed. In a third phase are pointed out the major areas for research and development that are presently being followed in the construction of legged robots. Finally, some of the problems still unsolved, that remain defying robotics research, are also addressed.N/

Optimum Gait Selection for Quadruped Robots

This paper studies periodic gaits of quadruped animals and its application to multilegged artificial locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities and intrabody compliance characteristics, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity and to the robot intra-body compliance characteristics.N/

Fractional PDª control of an hexapod robot

This paper studies the performance of a Fractional Order PDª controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on the mean absolute density of energy per travelled distance and on the hip trajectory errors. A set of simulation experiments reveals the influence of the different controller tuning upon the proposed indices.N/

Position and force control of a walking hexapod

This paper compares the performance of classical position PD algorithm with a cascade controller involving position and force feedback loops, for multi-legged locomotion systems and variable ground characteristics. For that objective the robot precribed motion is characterized in terms of several locomotion variables. Moreover, we formulate several performance measures of the walking robot based on the robot and terrain dynamical properties and on the robot hip and foot trajectory errors. Several experiments reveal the performance of the different control architectures in the proposed indices.N/

Interacting Microsoft Visual Basic Procedures (Macros) and GIS tools in order to access optimal location and maximum use of railways and railway infrastructures

Some parts of the Portuguese railway infrastructure have been neglected through time: Rural lines have been abandoned, investment in new infrastructure is sometimes delayed, and marketing strategies to keep or attract more users have not been pursued. Simultaneously, problems with urban congestion, pollution and mobility for the young, the elderly, the poor, and the handicapped are putting forward the discussion about new or more sustainable modes of transportation. Common sense of public officials, other lobbying groups, and the locals demand new, trendy train lines. And while some axes may have the potential to justify rail lines, others seem to lack population or funding to be enabled. One major problem in order to evaluate the worthiness of these rail projects has been the fact that very often the studies of travel demand and physical implantation are done separately. Travel demand analysis is done based on the four-step model (trip generation, distribution, modal split, and network assignment) using survey data and the network system, using a relatively wide zoning. The importance of interacting with other, finer, information (i.e. slope, density of population, environmental sensitivity, or other socio-economic and land use information) with the development of the travel analysis demand will enhance the analysis/results and increase the chance of proposing lines that are both optimal in location and will have the maximum use by the citizens. Off the shelf software is still unable to perform this kind of operations. Some perform the analysis using existing networks, and no information on the land is available besides the zoning system, other software propose lines accordingly to land slopes, but no trip information is included. GIS packages have the capacity to include the land information and some have some transportation analysis, but are lacking computation capabilities and algorithms to perform analysis similar to off-the-shelf transportation software. In order to develop this kind of integrated analysis it is important to have a good knowledge of the algorithms and analysis required by transportation and of the tools/opportunities offered by the GIS packages. This paper presents a methodology that integrates the transportation algorithms with the GIS functionalities, using excel macro-language. The result is an interaction of both travel demand analysis and site selection. The characteristics of the place constrain the travel demand analysis, but on its own the travel demand analysis define not only the buffer of the train line, but systematically enhance the shape of the line and the location of the stops each time the results of a phase of the travel demand analysis is outputted. This paper offers guidelines for those developing travel demand analysis including some site selection criteria, and it can be a starting point for those of whom intend to develop further application of in the GIS fields.

A literature review on the optimization of legged robots

Over the last two decades the research and development of legged locomotion robots has grown steadily. Legged systems present major advantages when compared with ‘traditional’ vehicles, because they allow locomotion in inaccessible terrain to vehicles with wheels and tracks. However, the robustness of legged robots, and especially their energy consumption, among other aspects, still lag behind mechanisms that use wheels and tracks. Therefore, in the present state of development, there are several aspects that need to be improved and optimized. Keeping these ideas in mind, this paper presents the review of the literature of different methods adopted for the optimization of the structure and locomotion gaits of walking robots. Among the distinct possible strategies often used for these tasks are referred approaches such as the mimicking of biological animals, the use of evolutionary schemes to find the optimal parameters and structures, the adoption of sound mechanical design rules, and the optimization of power-based indexes

New Technologies for Climbing Robots Adhesion to Surfaces

The interest in the development of climbing robots is growing steadily. The main motivations are to increase the operation e ciency, by eliminating the costly assembly of sca olding, or to protect human health and safety in hazardous tasks. Climbing robots have already been developed for applications ranging from cleaning to inspection of constructions di cult to reach. These robots should be capable of travelling over di erent types of surfaces, with di erent inclinations, such as oors, walls, ceilings, and to walk between such surfaces. Furthermore, they should be able of adapting and recon guring for di erent environment conditions and to be self-contained. Regarding the adhesion to the surface, the robots should be able to produce a secure gripping force using a light-weight mechanism. This paper presents a survey of di erent technologies proposed and adopted for climbing robots adhesion to surfaces, focusing on the new technologies that are recently being developed to ful ll these objectives.N/