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Stochastic hierarchical multiobjective routing model in MPLS networks with two service classes: an experimental study on imprecision and uncertainty issues

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Journal of Uncertainty Analysis and Applications 2014年第1期2卷 1-31页

作者： Rita Girão-Silva José Craveirinha João Clímaco Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Institute of Computers and Systems Engineering of Coimbra (INESC-Coimbra) Coimbra Portugal

The paper begins by reviewing a two-level hierarchical multicriteria routing model for Multiprotocol Label Switching networks with two service classes (Quality of Service and Best Effort services) and alternative routing, previously proposed by the authors. The features of the considered resolution heuristic are described. Some key issues raised by its complexity are discussed, as well as the major factors that constitute the sources of imprecision, inaccuracy, and uncertainty of the model and the way in which they are dealt with in the adopted resolution approach. Analytic and stochastic discrete-event simulation experiments are performed for different test networks, including experiments with a dynamic version of the routing method. This case study allows for the evaluation of the inaccuracies intrinsic to the analytic/numerical resolution procedures and of the uncertainty associated with the estimates of the mean of the stochastic traffic flows. An analysis focused on key robustness aspects of the model is also carried out. Primary 90B50; secondary 90B18; 90B15

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Optimized Design Methodology in Inductive Power Transfer systems Applied to Electric Vehicle Charging

Optimized Design Methodology in Inductive Power Transfer Sys...

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IEEE Annual Southern Power Electronics Conference (SPEC)

作者： Leonardo A. Brum Viera Pedro Gelati Pascoal Cassiano Rech Federal Universtity of Santa Maria (UFSM) Santa Maria RS Brazil INESC TEC - Institute of Systems and Computer Engineering Technology and Science Porto Portugal

technologies related to the transportation electrification have been gaining attention in recent years. One technology that stands out is wireless charging, which still presents numerous challenges in terms of design and optimization of parameters. This article proposes a design methodology for optimizing the performance of an inductive power transfer (IPT) for wireless charging of electric vehicles, taking into account operating limits. The proposed methodology uses a PSO (Particle Swarm Optimization) algorithm to find the design variables that maximize the eficiency. The methodology and the development of a 3.6 kW experimental setup are presented, resulting in a power transfer efficiency of 89.4 %.

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Combining sparse and dense methods in 6D visual odometry

Combining sparse and dense methods in 6D visual odometry

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International Conference on Autonomous Robot systems

作者： Hugo Silva Eduardo Silva Alexandre Bernardino INESC TEC Robotics Unit School of Engineering Polytechnic Institute of Porto Institute of Systems and Robotics IST Lisbon Portugal

ISBN: (纸本)9781479912483

Visual Odometry is one of the most powerful, yet challenging, means of estimating robot ego-motion. By grounding perception to the static features in the environment, vision is able, in principle, to prevent the estimation bias rather common in other sensory modalities such as inertial measurement units or wheel odometers. We present a novel approach to ego-motion estimation of a mobile robot by using a 6D Visual Odometry Probabilistic Approach. Our approach exploits the complementarity of dense optical flow methods and sparse feature based methods to achieve 6D estimation of vehicle motion. A dense probabilistic method is used to robustly estimate the epipolar geometry between two consecutive stereo pairs;a sparse feature stereo approach to estimate feature depth;and an Absolute Orientation method like the Procrustes to estimate the global scale factor. We tested our proposed method on a known dataset and compared our 6D Visual Odometry Probabilistic Approach without filtering techniques against a implementation that uses the well known 5-point RANSAC algorithm. Moreover, comparison with an Inertial Measurement Unit (RTK-GPS) is also performed, for providing a more detailed evaluation of the method against ground-truth information.

关键词： information evaluation Procrustes

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Design and Development of a multi rotor UAV for Oil Spill Mitigation

Design and Development of a multi rotor UAV for Oil Spill Mi...

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OCEANS - Europe

作者： A. Oliveira D. Pedrosa T. Santos A. Dias G. Amaral A. Martins J. Almeida E. Silva INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal ISEP Instituto Superior de Engenharia do Porto Porto Portugal

Over the last few years, oil spill incidents occured with some regularity during exploration, production and transportation, causing a large economic and ecologic impact in the world community. To minimise these impacts and reduce the time response of the initial mitigation process, autonomous vehicles, such as unmanned aerial vehicles (UAV) can be used to perform oil spill monitoring and mitigation. This paper presents the design and implementation of a multirotor UAV capable of identifying and combat the oil spill, by using a release system of consortia with bacteria and nutrients. Several field tests occurred in Portugal and Spain, where the oil spill was implemented in a simulated environment, resulting in a cooperative and simultaneous manoeuvre between the vehicles.

关键词： Oils Cameras Trajectory Microorganisms Powders Three-dimensional displays Unmanned aerial vehicles

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UOLO - automatic object detection and segmentation in biomedical images

arXiv

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arXiv 2018年

作者： Araújo, Teresa Aresta, Guilherme Galdran, Adrian Costa, Pedro Mendonça, Ana Maria Campilho, Aurélio INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculdade de Engenharia da Universidade do Porto Porto Portugal

We propose UOLO, a novel framework for the simultaneous detection and segmentation of structures of interest in medical images. UOLO consists of an object segmentation module which intermediate abstract representations are processed and used as input for object detection. The resulting system is optimized simultaneously for detecting a class of objects and segmenting an optionally different class of structures. UOLO is trained on a set of bounding boxes enclosing the objects to detect, as well as pixel-wise segmentation information, when available. A new loss function is devised, taking into account whether a reference segmentation is accessible for each training image, in order to suitably backpropagate the error. We validate UOLO on the task of simultaneous optic disc (OD) detection, fovea detection, and OD segmentation from retinal images, achieving state-of-the-art performance on public datasets. Copyright © 2018, The Authors. All rights reserved.

关键词： Medical imaging

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Review of Commercial Flexibility Products and Market Platforms

Review of Commercial Flexibility Products and Market Platfor...

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International Conference on European Electricity Market, EEM

作者： Luís Rodrigues Kamalanathan Ganesan Fábio Retorta Fábio Coelho João Mello José Villar Ricardo Bessa Technology and Science INESC TEC - Institute for Systems and Computer Engineering Faculdade de Engenharia da Universidade do Porto Universidade do Minho Portugal

ISBN: (数字)9798350381740

ISBN: (纸本)9798350381757

The European Union is pushing its members states to implement regulations that incentivize distribution system operators to procure flexibility to enhance grid operation and planning. Since flexibility should be obtained using market-based solutions, when possible, flexibility market platforms become essential tools to harness consumer-side flexibility, supporting its procurement, trading, dispatch, and settlement. These reasons have led to the appearance of multiple flexibility market platforms with different structure and functionalities. This work provides a comprehensive description of the main flexibility platforms operating in Europe and provides a concise review of the platform main characteristics and functionalities, including their user segment, flexibility trading procedures, settlement processes, and flexibility products supported.

关键词： Procurement technological innovation Reviews Terminology Europe Regulation Planning

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Smart transformer control strategies for multi-microgrid islanding operation

Smart transformer control strategies for multi-microgrid isl...

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Mediterranean Conference on Power Generation, Transmission, Distribution and Energy Conversion (MEDPOWER 2018)

作者： Mário Couto João A. Peças Lopes Carlos L. Moreira Faculdade de Engenharia da Universidade do Porto Porto Portugal Institute for Systems and Computer Engineering Technology and Science (INESC TEC) Porto Portugal

ISBN: (纸本)9781839531330

In a framework with an increased number of small-scale generators connected to the distribution grid by inverters, the replacement of the electromagnetic transformers by Smart Transformers (ST) in secondary substations brings new opportunities to improve the grid flexibility. In this research, they are exploited in the context of Multi-Microgrids (MMG) allowing their operation in islanding mode, through the development of control functionalities to be incorporated in the converters of ST. The possibility to connect a storage device in the DC link, provided by a three-stage configuration (AC/DC/AC), fully decouples the control possibilities between Medium Voltage (MV) and Low Voltages (LV) grid sides. Even though energy storage cannot be considered, the frequency control of the LV grid can be also decoupled from the MV grid. In order to illustrate these set of possible approaches, two different configurations are addressed in the paper and their control strategies properly described: 1) with storage — the ST operates as grid-forming for both sides; 2) without storage — the ST just operating as a grid-forming unit for the LV side.

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Graph-SLAM Approach for Indoor UAV Localization in Warehouse Logistics Applications

Graph-SLAM Approach for Indoor UAV Localization in Warehouse...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： A. Moura J. Antunes A. Dias A. Martins J. Almeida ISEP Instituto Superior de Engenharia do Porto Porto Portugal INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (纸本)9781665431989;9781665431996

Unmanned Aerial Vehicles (UAVs) are a key ingredient in the industry and in warehouse logistics digital transformation process, providing the ability to perform automatic cyclic counting and real-time inventory, localize hard-to-find items and reach narrow storage areas. The use of UAVs poses new challenges, such as indoor autonomous localization and navigation, collision avoidance and automated UAV fleet management. This paper addresses the development of a vision-based Graph-SLAM approach for UAV indoor localization without predefined warehouse markers positions. A framework is proposed and developed to support different commercial UAV platforms, allowing the estimation in real-time of the UAV position and attitude. Indoor experimental tests were carried out in order to evaluate the performance of the developed method, comparing the results obtained with an approach based on the pre-mapped markers position indoor localization method.

关键词： Location awareness Visualization Estimation Unmanned aerial vehicles Real-time systems Task analysis Trajectory optimization

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Organizational Enablers to the Governance of Collaborative University-Industry R&D Programs

Organizational Enablers to the Governance of Collaborative U...

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International Conference on Concurrent Enterprising

作者： Gabriela Fernandes Sara Leite Madalena Araújo Ana Correia Simões University of Coimbra Coimbra Portugal University of Minho Guimarães Portugal INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (数字)9781728170374

ISBN: (纸本)9781728170381

Governance has a significant impact on the success of programs and projects. However, governance of collaborative university-industry projects and programs in literature, is a rather scarce topic. Based on an ethnographic study of a large university-industry collaboration, this paper proposes a conceptual framework of Organizational Enablers (OEs) to improve the governance of collaborative university-industry R&D programs. An exploratory research was carried out, aiming to learn from the experience of program and project managers and other program stakeholders of the case under study. Qualitative data was collected using participant observation and document analysis. The framework highlights nine OEs: `Established governance policies and values', `Formal Governance support structures', `Flexible organization structures', `Standardization of program and project management practices', `Different management approaches to fit the project needs', `Clearly defined roles and responsibilities', `Different means of communication and interaction', `Top management Support' and `Projects strategic alignment within the industry and university roadmaps'.

关键词： Collaboration Industries Organizations Standards organizations Project management Stakeholders Contracts

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Deep Reinforcement Learning Framework for UAV Indoor Navigation

Deep Reinforcement Learning Framework for UAV Indoor Navigat...

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Iberian Robotics Conference (ROBOT)

作者： João J. Martins Alexandre Amaral André Dias INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal FEUP - Faculdade de Engenharia da Universidade do Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Unmanned Aerial Vehicle (UAV) applications, particularly for indoor tasks such as inventory management, infrastructure inspection, and emergency response, are becoming increasingly complex with dynamic environments and their different elements. During operation, the vehicle's response depends on various decisions regarding its surroundings and the task goal. Reinforcement Learning techniques can solve this decision problem by helping build more reactive, adaptive, and efficient navigation operations. This paper presents a framework to simulate the navigation of a UAV in an operational environment, training and testing it with reinforcement learning models for further deployment in the real drone. With the support of the 3D simulator Gazebo and the framework Robot Operating System (ROS), we developed a training environment conceivably simple and fast or more complex and dynamic, explicit as the real-world scenario. The multi-environment simulation runs in parallel with the Deep Reinforcement Learning (DRL) algorithm to provide feedback for the training. TD3, DDPG, PPO, and PPO+LSTM were trained to validate the framework training, testing, and deployment in an indoor scenario.

关键词： Training Three-dimensional displays Operating systems Inventory management Inspection Autonomous aerial vehicles Deep reinforcement learning Vehicle dynamics Robots Testing

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