Robot localization from minimalist inertial data using a Hidden Markov Model

Hidden Markov Models (HMM) are applied to interoceptive data (in this case the sense of rotation by way of a gyroscope) acquired by a moving wheeled robot when contouring an indoor environment. We demonstrate the soundness of HMM to solve the problem of robot localization in a topological model of the environment, particularly the kidnapped robot problem and position tracking. In this approach, the environment topology is described by the sequence of movements a robot executes when contouring the environment. Movements are described in a fuzzy domain using distance traveled and curvature as features.Com o apoio RAADRI

Communication skills in higher education vs the labor market: different perceptions and valuations

Communication skills are considered increasingly important by higher education institutions, but also by employers as they influence better professional perfor-mance. The literature review recommends a necessary and desirable alignment of the communicational aspect of academic curricula with work needs, so that graduates have professional success. The objective of this research is to know how communicational skills are seen and valued in higher education, specifically in a Portuguese Polytechnic Accounting and Business School. For this purpose, undergraduate and Masters students who integrate courses or approaches related to communicational skills are surveyed. Coordinators of some of these courses (who are also professors) are consulted too. The methodology adopted is the case study and the data collection techniques are questionnaires applied to a sample of students and interviews carried out with the Coordinators of some of afore-mentioned courses. According to a self-assessment carried out by students, it was concluded that their average communication performance is very good, which is not in line with the literature review. As for the existence of training, within the scope of communication skills, course coordinators and most students consider that these should be taught in higher education. In the opinion of the course di-rectors, there is an alignment between the skills taught in the courses and those that are required in the job market, an opinion that a not very expressive majority of students also share, although an overwhelming majority of students consider that this should be done. Course coordinators and students suggest motivating, practical and work-related pedagogical approaches for greater development of the skills in analysis.info:eu-repo/semantics/publishedVersio

Coextrusion of multifunctional filaments

Dissertação de mestrado integrado em Engenharia de PolímerosSome commercial filaments are becoming commodities so aiming to increase the market competitiveness producers are looking for alternatives to improve their products performance. A simple material change is not enough, since better performant materials are usually more expensive and can easily be copied by the competition, so new approaches are needed. The challenge of this project was to improve the properties of a commercial filament using a coextrusion process. The filament that is being studied has good tenacity but poor abrasion resistance, so the goal was to coextrude this filament with a second material in order to increase the abrasion resistance, without affecting negatively the filament tenacity. Two blends (B1 and B2) and one single material (M1), which is known to possess good abrasion resistance and average tensile resistance, were selected for this study. The methodology of this research project was divided into three steps. Firstly, the materials were characterized rheologically, to identify its main flow properties and guide the definition of processing conditions. Subsequently, monofilaments of each material were extruded separately using different processing conditions, to identify their processing window and to obtain the resultant properties. The results obtained in this phase allowed to select the most promising material combination to test in the next phase of the work. The last step was to produce and characterise the coextruded filaments. Each filament was characterized by their tenacity, elongation and abrasion resistance properties. After all the data treatment it was possible to identify the best configuration of materials (a coextrusion of B1 and B2) and processing conditions, which, when compared with the commercial filament, yielded an improvement of 35% in abrasion resistance without affecting the mechanical properties.Alguns filamentos comerciais estão a tornar-se de uso vulgar então, para aumentar a sua competitividade no mercado, os produtores procuram alternativas para melhorar as suas propriedades. Uma simples alteração na matéria-prima utilizada não é suficiente, pois materiais com melhores propriedades são normalmente mais caros e esta alteração pode ser facilmente copiada pela concorrência. Por esta razão, novas abordagens são necessárias. O desafio deste projeto foi melhorar as propriedades de um filamento comercial através de um processo de co-extrusão. Este filamento apresenta boas propriedades de tenacidade mas pouca resistência à abrasão, então o principal objetivo foi co-extrudir esse mesmo filamento com outro material de forma a manter as propriedades de tenacidade mas aumentando a sua resistência à abrasão. Para este estudo foram selecionadas duas misturas e um material, que é conhecido por ter boa resistência a abrasão e razoáveis propriedades mecânicas. A metodologia utilizada neste projeto foi dividida em três passos. O primeiro foi a caracterização reológica dos materiais, para identificar as propriedades do escoamento e guiar a definição das condições de processamento. O segundo passo foi extrudir os filamentos de cada material separadamente com diferentes condições de processamento, de forma a obter a janela de processamento e identificar as suas propriedades resultantes. Os resultados obtidos nesta fase permitiram selecionar a combinação de materiais mais promissora para ser testada na fase seguinte. Por último, os filamentos foram co-extrudidos e caracterizados. Cada filamento foi caracterizado ao nível das suas propriedades de tenacidade, alongamento e resistência à abrasão. Após o tratamento de todos os resultados obtidos, foi possível identificar a melhor combinação de materiais (filamento co-extrudido B2+B1) e as condições de processamento, que, quando comparadas com o filamento comercial, apresentaram uma melhoria de 35% de resistência à abrasão sem afetar as suas propriedades mecânicas

Value versus growth in the PIIGS stock markets

Mestrado em FinançasEvidência académica sugere que, ações que transacionam a um preço mais baixo comparativamente aos seus fundamentais (ações valor), tendem a ter um desempenho superior ao de ações que transacionam a preços superiores (ações crescimento). Apesar de este tópico ter sido imensamente abordado a nível mundial, especialmente no mercado acionista Americano, não existe evidência clara que tal afirmação se aplica em países menos conhecidos como Portugal, Itália, Irlanda, Espanha e Grécia que são geralmente conhecidos pelos "PIIGS" da União Europeia devido às suas economias instáveis e níveis elevados de dívida pública. Portfólios valor e crescimento são construídos e posteriormente avaliados. Encontramos um prémio valor compatível com estudos previamente conduzidos a nível mundial. Usando as regressões de Fama e Macbeth (1973) e as extensões dos seus modelos, descobrimos que o alfa gerado por estratégias de valor na região dos PIIGS é demasiado grande para ser explicado por modelos tradicionais de avaliação de ativos.Evidence from academic research suggests that stocks trading at a lower price relatively to its fundamentals (value stocks) tend to outperform stocks that trade at higher prices (growth stocks) in the long run. Although this has been immensely studied worldwide, especially in U.S stock market, there is no clear evidence if such assertion is applicable in less renowned countries, such as, Portugal, Italy, Ireland, Spain and Greece which are commonly known as the EU PIIGS due to their economic instability and high national debt levels. We construct and evaluate value and growth portfolios and find an eloquent value premium in these countries, compatible with previous studies conducted worldwide. Using Fama and Macbeth (1973) regressions and its model extensions we find that the alpha generated by value strategies in the PIIGS regions is too large to be explained by conventional asset pricing modelsinfo:eu-repo/semantics/publishedVersio

Model to Estimate the Project Outcome's Likelihood Based on Social Networks Analysis

One of the Key Challenges in the area of Project Management, is definitely, how to set up the best Project Team, regarding several key areas, such as; team experience, flexibility, engagement, know-how, and intra and cross-collaboration, so that Project Success Outcome can be achieved. Such best Project Team is definitely very difficult, if not extremely hard to define, especially when it comes to intra and cross-collaboration matters, where in projects environment, implies an extreme dynamic interaction between project people, throughout all the phases of a project lifecycle. Forecasting, to the possible extent, how that people dynamic’s interaction is a critical factor that can contribute to dictate how a project outcome will look like, is becoming a major concern for Risk Management, in Project Management. In this line of thought, the present work aims to further contribute to this particular area of Risk Management,  in Project Management, by exploring a new analysis approach, where it points out  its focus towards project People, and how the dynamic interaction of project people, that delivers a project, across its lifecycle, influences or not, a certain project outcome type (failure or success). To provide answer to this question, a heuristic model based on three scientific field pillars (Project Management, Risk Management, and Social Network Analysis Theory), is proposed in this work, which aims to identify a set of critical factors, regarding hoe people dynamically interact across the different phases of a project lifecycle, that are to be associated with project success, and project failure outcome. Keywords: Project management, Risk management, Social networks analysi

Managing open innovation project risks based on a social network analysis perspective

In today’s business environment, it is often argued, that if organizations want to achieve a sustainable competitive advantage, they must be able to innovate, so that they can meet complex market demands as they deliver products, solutions, or services. However, organizations alone do not always have the necessary resources (brilliant minds, technologies, know-how, and so on) to match those market demands. To overcome this constraint, organizations usually engage in collaborative network models—such as the open innovation model—with other business partners, public institutions, universities, and development centers. Nonetheless, it is frequently argued that the lack of models that support such collaborative models is still perceived as a major constraint for organizations to more frequently engage in it. In this work, a heuristic model is proposed, to provide support in managing open innovation projects, by, first, identifying project collaborative critical success factors (CSFs) analyzing four interactive collaborative dimensions (4-ICD) that usually occur in such projects—(1) key project organization communication and insight degree, (2) organizational control degree, (3) project information dependency degree, (3) and (4) feedback readiness degree— and, second, using those identified CSFs to estimate the outcome likelihood (success, or failure) of ongoing open innovation projects.info:eu-repo/semantics/publishedVersio

LudVision Remote Detection of Exotic Invasive Aquatic Floral Species using Data from a DroneMounted Multispectral Sensor

Remote sensing is the process of detecting and monitoring the physical characteristics of an area by measuring it’s reflected and emitted radiation at a distance. It is being broadly used to monitor ecosystems, mainly for their preservation. There have been ever­growing reports of invasive species affecting the natural balance of ecosystems. Exotic invasive species have a critical impact when introduced into new ecosystems and may lead to the extinction of native species. In this study, we focus on Ludwigia peploides, considered by the European Union as an aquatic invasive species. Its presence can have negative impacts on the surrounding ecosystem and human activities such as agriculture, fishing, and navigation. Our goal was to develop a method to identify the presence of the species. To achieve this, we used images collected by a drone­mounted multispectral sensor. Due to the lack of publicly available data sets containing Ludwigia peploides, we had to create our own data set. We started by carefully studying all the available options. We first experimented with satellite images, but it was impossible to identify the targeted species due to their low resolution. Thus, we decided to use a drone­mounted multispectral sensor. Unfortunately, due to budget limitations, we could not acquire the highly specialized types of equipment that is more commonly used in remote sensing. However, we were confident that our setup would be enough to extract the species’ spectral signature, and that the higher resolution compared to satellites would allow us to use deep learning models to identify the species. The use of the drone allowed for better operational flexibility and to cover a large area. The multispectral sensor allowed us to leverage the information of two additional bands outside the visible spectrum. After visiting the study site multiple times and capturing data at various times of the day, we created a representative data set with different atmospheric conditions. After the data collection, we proceeded to the pre­processing and annotation steps to have a usable data set. In later stages, we proved that extracting the specie’s spectral signature from our data set is possible. This was a significant conclusion, as it proved that it is indeed possible to differentiate the species’ spectral signature with equipment that is not as advanced and specialized as the ones used in other studies. After having a data set, we focused on the next step, which was to develop and validate a method that would be able to identify Ludwigia p on our data. We decided on using semantic segmentation models to identify the species. Given that we only have two additional bands compared to traditional RGB images, we could not approach the problem as a standard remote sensing spectroscopy problem. By using semantic segmentation models, we can leverage both the capabilities of these models to recognize objects and the multispectral nature of our data. Fundamentally, the model has the same behavior as usual but has access to the information of two additional bands.We started by using an existing state­of­the­art semantic segmentation model adapted to handle our data. After doing some initial tests and establishing a baseline, we proposed and implemented some changes to the existing model. The goal of the modifications was to create a model with lower training times and better performance in detecting Ludwigia p. at high altitudes. The result is a new model better suited to our data and application. Our model is faster when it comes to training time while maintaining similar performance and has a slight performance increase in high­altitude images.O sensoriamento remoto é o processo de detetar e monitorizar as características físicas de uma área, medindo à distância a sua radiação refletida e emitida. É amplamente utilizado para monitorizar ecossistemas, principalmente tendo em vista a sua preservação. Há cada vez mais casos de espécies invasoras que afetam o equilíbrio natural dos ecossistemas. As espécies exóticas invasoras têm um impacto crítico quando introduzidas em novos ecossistemas e podem levar à extinção de espécies nativas. Neste estudo, focamo­nos na Ludwigia peploides, considerada pela União Europeia como uma espécie aquática invasora. A sua presença pode ter impactos negativos no ecossistema circundante e nas atividades humanas, como agricultura, pesca e navegação. O nosso objetivo foi desenvolver um método para identificar a presença da espécie. Para isso, usámos imagens capturadas por um sensor multiespectral montado num drone. Devido à falta de conjuntos de dados disponíveis publicamente contendo Ludwigia peploides, tivemos que criar nosso próprio conjunto de dados. Começámos por cuidadosamente estudar todas as opções disponíveis. Primeiro fizemos experiências com imagens de satélite, mas foi impossível identificar a espécie­alvo devido à baixa resolução das imagens. Assim, decidimos usar um sensor multiespectral montado num drone. Infelizmente, devido a limitações orçamentais, não conseguimos adquirir os tipos de equipamentos altamente especializados que são tipicamente usados em sensoriamento remoto. No entanto, estávamos confiantes de que nossa configuração seria suficiente para extrair a assinatura espectral da espécie, e que a alta resolução das nossas imagens comparadas com de satélite, nos permitiria usar modelos de aprendizagem profunda para identificar as espécies. O uso do drone permitiu uma maior flexibilidade operacional e cobertura de uma grande área. O sensor multiespectral permitiu­nos alavancar as informações de duas bandas adicionais fora do espectro visível. Depois de visitar o local de estudo várias vezes e capturar dados em vários momentos do dia, criámos um conjunto de dados representativo com diferentes condições atmosféricas. Após a captura de dados, procedeu­se às etapas de pré­processamento e anotação para ter um conjunto de dados utilizável. Em etapas posteriores, provámos que é possível extrair dos nossos dados a assinatura espectral da espécie. Esta foi uma conclusão significativa, pois comprovou que de fato é possível diferenciar a assinatura espectral da espécie com equipamentos não tão avançados e especializados quanto os utilizados noutros estudos. Depois de termos um conjunto de dados, focamo­nos no próximo passo, que foi desenvolver e validar um método que fosse capaz de identificar Ludwigia p. nos nossos dados. Decidimos usar modelos de segmentação semântica para identificar as espécies. Dado que temos apenas duas bandas adicionais em comparação com as imagens RGB tradicionais, não poderíamos abordar o problema como um problema de espectroscopia de sensoriamento remoto padrão. Ao usar modelos de segmentação semântica, podemos aproveitar não só os recursos desses modelos para reconhecer objetos, mas também a natureza multiespectral de nossos dados. Fundamentalmente, o modelo tem o mesmo comportamento usual, mas tem acesso às informações de duas bandas adicionais. Começamos por usar um modelo de segmentação semântica estado­da­arte existente, que foi adaptado para lidar com nossos dados. Depois de fazer alguns testes iniciais e estabelecer uma base de comparação, propusemos e implementámos algumas modificações ao modelo existente. O objetivo das modificações foi criar um modelo com menores tempos de treino e melhor desempenho na deteção de Ludwigia p. em altitudes elevadas. O resultado é um novo modelo mais adequado aos nossos dados e aplicação. O nosso modelo é mais rápido no que diz respeito ao tempo de treino, mantendo desempenho semelhante, apresentando mesmo um ligeiro aumento de desempenho em imagens de alta altitude

Applying social network analysis to identify project critical success factors

A key challenge in project management is to understand to which extent the dynamic interactions between the different project people—through formal and informal networks of collaboration that temporarily emerge across a project´s lifecycle—throughout all the phases of a project lifecycle, influence a project’s outcome. This challenge has been a growing concern to organizations that deliver projects, due their huge impact in economic, environmental, and social sustainability. In this work, a heuristic two-part model, supported with three scientific fields—project management, risk management, and social network analysis—is proposed, to uncover and measure the extent to which the dynamic interactions of project people—as they work through networks of collaboration—across all the phases of a project lifecycle, influence a project‘s outcome, by first identifying critical success factos regarding five general project collaboration types((1) communication and insight, (2) internal and cross collaboration, (3) know-how and power sharing, (4) clustering, and (5) team work efficiency) by analyzing delivered projects, and second, using those identified critical success factos to provide guidance in upcoming projects regarding the five project collaboration types.info:eu-repo/semantics/publishedVersio

Using metaheuristics-based methods to provide sustainable market solutions, suitable to consumer needs

Nowadays the buildings sector is one of the key sectors to achieve sustainability, with the correspondent consumers, in particular, the household consumers, having the need to perform sustainable choices every day, regarding the appliances to be acquired from the market. This is not only due to government’s growing concerns about sustainability but also with the consumers on having sustainable solutions, given the different economic, social (including their comfort) and environmental needs. However, the existence of several electrical appliances on market, with all their different issues, brands and models, together with the several tradeoffs referred before, difficult the consumer’s choices, on having sustainable solutions in the market. Therefore, this work, presents an approach, by using Multi-Attribute Value Theory (MAVT), integrated with metaheuristics, which uses Evolutionary Algorithms (EA) to provide suitable and sustainable market solutions to a consumer, according to its own needs. Based on the achieved solutions and considering the relative importance, given to each consumer, and regarding each dimension of sustainability, it’s possible to achieve several savings, namely electrical and water consumption, CO2 emissions, among others. A case study shall be shown, to demonstrate the applicability of the proposed approach.info:eu-repo/semantics/publishedVersio