Browsing by Author "Soares, Rui"
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- Competitive dynamics for behavior coordination in a joint transportation taskPublication . Bicho, Estela; Louro, Luis; Soares, Rui; Erlhagen, WolframWe address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.
- Control of baker’s yeast fermentation: PID and fuzzy algorithmsPublication . Machado, Carlos; Gomes, Pedro; Soares, Rui; Pereira, Sílvia; Soares, Filomena BaptistaA MATLAB/SIMULINK-based simulator was employed for studies concerning the control of baker’s yeast fed-batch fermentation. Four control algorithms were implemented and compared: the classical PID control, two discrete versions- modified velocity and position algorithms, and a fuzzy law. The simulation package was seen to be an efficient tool for the simulation and tests of control strategies of the nonlinear process.
- Coordinated transportation of a large object by a team of three robotsPublication . Soares, Rui; Bicho, EstelaDynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.
- Coordinated transportation of a large object by a team of two robotsPublication . Soares, Rui; Bicho, EstelaIn this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.
- Gestão e desenvolvimento de recursos humanosPublication . Couto, Ana Isabel; Martinho, Ana Luisa; Martins, Dora; Silva, Marlene; Soares, Rui; Peixoto, SilviaEm discurso direto, este livro apresenta práticas emergentes de Gestão e Desenvolvimento de Recursos Humanos que produzem resultados efetivos e explicitam como a função de Recursos Humanos está em mudança. Com onze exemplos concretos que expõem a implementação, os resultados, os fatores críticos de sucesso e as lições aprendidas. Trata-se de partilhar experiências práticas e de forma específica, de modo a servir de inspiração a outras organizações: - A qualidade de vida constitui a dimensão central da satisfação interna, equacionada pela Assol - Associação de Solidariedade Social de Lafões, em estreita ligação com a satisfação externa. - A especialização é o fator chave apresentado pela Altran como resposta ao desafiante mercado de trabalho europeu; - A adidas Business Services demonstra, através do Team Line Up, como o processo de gestão do desempenho e do potencial, catalisador da cultura, transporta para a realidade organizacional os conceitos e ideias do desporto; - A Busigners apresenta uma estratégia de RH inovadora, denominada por Employee’s experience design, baseada na metodologia design thinking; - A aprendizagem informal é a estratégia de desenvolvimento assumida pela Eurotux Informática, S.A - A Indeve apresenta-nos o programa Shop Floor Control desenvolvido numa parceria com a Ikea Industry Portugal, - Os desafios da gestão de Recursos Humanos em empresas tecnológicas são apresentados pela MOG, - O desenvolvimento de um modelo de Compensação Total é apresentado pela consultora Manuela Magno na sua implementação numa organização sem fins lucrativos; - A NIMCO Portugal, Lda., uma empresa do setor do calçado especializado, evoca o lema Team Together Achieve More! para nos mostrar como a proximidade e a transparência podem aportar valor para os resultados operacionais da organização; - O OSIT Group mostra-nos como recrutar PESSOAS pode ser um processo mais humano e transparente - A estratégia de Employer Branding centrada na gestão por valores é apresentada pelo Grupo Salvador Caetano. Cada artigo apresenta uma estrutura semelhante, com foco na prática emergente, a implementação, na metodologia, nos resultados, nos fatores críticos de sucessos e nas lições aprendidas. Estrutura da obra: Prefácio - Team Line Up - Gestão de desempenho - adidas Business Services - Especializar para recrutar - Altran - Satisfação interna e externa - Assol - Employee’s experience design - Inovar nos RH com o design thinking - Busigners - Empresa como espaço de aprendizagem - Eurotux - Employer branding - Grupo Salvador Caetano - Shop Floor Control - Indeve - Compensação & Benefícios - Manuela Magno - GRH nas empresas tecnológicas - MOG Technologies - Proximidade como prática em RH - NIMCO Portugal Lda - Recrutar PESSOAS - OSIT Group
- A Novel Robotic Manipulator Concept for Managing the Winding and Extraction of Yarn CoilsPublication . Costa, Rúben; Sousa, Vitor F. C.; Silva, Francisco J. G.; Campilho, Raul; Pinto, Arnaldo; Pinto Ferreira, Luís; Soares, RuiWire rope manufacturing is an old industry that maintains its place in the market due to the need for products with specific characteristics in different sectors. The necessity for modernization and performance improvement in this industry, where there is still a high amount of labor dedicated to internal logistics operations, led to the development of a new technology method, to overcome uncertainties related to human behaviour and fatigue. The removal of successive yarn coils from a twisting and winding machine, as well as cutting the yarn and connecting the other end to the shaft in order to proceed with the process, constitutes the main problem. As such, a mobile automatic system was created for this process, due to its automation potential, with a project considering the design of a 3D model. This novel robotic manipulator increased the useful production time and decreased the winding coil removal cycle time, resulting in a more competitive, fully automated product with the same quality. This system has led to better productivity and reliability of the manufacturing process, eliminating manual labor and its cost, as in previously developed works in other industries
- Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementationPublication . Soares, Rui; Bicho, Estela; Machado, Toni; Erlhagen, WolframDynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.
- Recursos humanos: um modelo compreensivo do campoPublication . Meirinhos, Viviana; Rodrigues, Ana C.; Martins, Ana Luísa; Vieira, Diana; Martins, Dora; Lousã, Eva; Martins, Helena; Araújo, Manuel; Silva, Marlene; Ferreira, Pedro; Soares, Rui; Silva, Susana; Couto, Ana Isabel
- Using attractor dynamics to generate decentralized motion control of two mobile robots transporting a long object in coordinationPublication . Soares, Rui; Bicho, EstelaDynamical systems theory is used here as a theoretical language and tool to design a distributed control architecture for a team of two mobile robots that must transport a long object and simultaneously avoid obstacles. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space of behavioral variables (heading direction and path velocity). The environment is also modeled in these terms by representing task constraints as attractors (i.e. asymptotically stable states) or reppelers (i.e. unstable states) of behavioral dynamics. For each robot attractors and repellers are combined into a vector field that governs the behavior. The resulting dynamical systems that generate the behavior of the robots may be nonlinear. By design the systems are tuned so that the behavioral variables are always very close to one attractor. Thus the behavior of each robot is controled by a time series of asymptotically stable states. Computer simulations support the validity of our dynamic model architectures.