Formulário Relatório Final - Componente Científica2011-2013).pdf · experimental raw data to model the primary power sources of electric subsystems to be integrated in the overall

Formulário Relatório Final - Componente Científica[Componente Científica Lacrada com Sucesso a 07-02-2014]

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1. Identificação do Projecto

Referência do Projecto: PEst-OE/EEI/UI0147/2011

Investigador Responsável: Fernando Manuel Ferreira Lobo Pereira

Instituição Proponente: Faculdade de Engenharia da Universidade do Porto (FE/UP)

Data de Início: 01-01-2011 Data de Fim: 31-12-2013 Financiamento Concedido: €99.798,00

2. Caracterização Sumária do Projecto

Objectivos do Projecto (indicar endereço electrónico do(s) site(s) criado(s), quando aplicável)

The objectives of the project were stated in detail in two documents: a) The approved proposal of the project PEst-OE/EEI/UI0147/2011 forthe years 2011 and 2012; and b) The reinforcement requested for the prolongation of the project for 2013 that can be found in the pdf file

"Pest 2013-ISR.pdf" which, for convenience is included in entry 9 of this application form. The general objectives of the strategic project are (a)

Developing scientific and technical concepts, results, methods and tools in the areas of control, systems, computing and optimization targetingnot only the growth of the various theoretical bodies but also the support of recently emerging engineering paradigms alluded to in (b). (b)

Addressing the challenges arising in the design, development, control, operation, and management of distributed and/or networked andnetwork centric systems. The societal challenges requiring emerging systems and control concepts, networked vehicles, sensors and other

devices, robotics, automation, communications, etc., encompass climate change, environmental studies, renewable energy systems, electrical

transportation systems, water, integrated management of energy and other natural resources, web-of-life studies, etc. These objectives aretargeted by synergetic integrating the specific objectives of the three research groups - CEO, IE and NCCS – composing the research unit UI&D

147 that will be listed below. It is important to remark that limited funds of the strategic project were well below the minimum required for areasonably efficient research development, and thus, the success in attaining the proposed objectives relied mainly on other research contracts

and on the extraordinary generosity of the unit researchers. The two general objectives targeted by the strategic project concern scientific andtechnical excellence, impact in the strategic societal challenges including the national economy, and in the economic sustainability of the

undertaken research. A brief description of the goals of each one of 3 research groups for the PEst-OE/EEI/UI0147/2011 and its prolongation

to 2013 are as follows: The research of the CEO- Control, Estimation, and Optimization group encompasses three main objectives: 1.Fundamental research to: (i) derive new necessary conditions of optimality for optimal control problems, which includes: Development of

optimality conditions for constrained problems including normality, nondegeneracy, etc; study of value functions and reachability sets; andregularity of optimal control (ii) design and prove properties of Model Predictive Control (MPC) schemes, and (iii) design and prove properties

of novel identification schemes, notably, the development of new Systems Identification Algorithms (continuous time system, linear parameter

varying systems, etc.) and the application of system identification techniques to model behavioral systems 2. Numerical implementation ofalgorithms based on results obtained in 1. This includes: development and testing of algorithms for the computation of optimal controls,

implementation of feedback control using the MPC schemes, and the implementation of various types of identification algorithms. 3. Applicationof the above results to real life problems: (i) Optimal control problems will be applied to solve problems arising in hydro-electrical production,

DC-converters, and irrigation, health systems, and to mobile robotics. (ii) The MPC scheme will be applied to the control of formations ofautonomous vehicles as well as in the management of resources in agriculture (iii) The advanced identification algorithms will be used to

formulate and solve the detection of gas leak in complex distributed systems These objectives are intertwined with other goals concerning: (i)

advanced research training at the national and international level, notably through network of excellence SADCO, as well as. The stronginternationalization of the activities, and interaction with endusers and stakeholders of the considered application domains. The research of the

IE – Industrial Electronics group encompasses three main objectives: 1. Modelling of renewal sources, supported on analytical formulation ofrespective process in order to investigate the optimization of the generation for different renewable sources; 2. Design and implementation of

an hybrid system based on wind, sun and storage, to validate improvement of quality of service and energy efficiency. 3. Develop a laboratory

prototype to validate the electrical energy as the right energy for the kinematic chain in hybrid and electrical vehicles, to support research onvehicle power-train and on the design of an appropriate DC Bus. 4. Develop appropriate topologies for power converters, either for

interconnection to grid or electric vehicles. 5. Study methods and mechanisms of efficiency improvement in energy consumption in commonusage, either by appropriated storage or power control. 6. Develop advanced forecasting and optimization technologies to support energy

management systems to Embedded in the above objectives of this group are others concerning advanced education, internationalization andtechnology transfer which are materialized by developing of the listed activities in close relation with key stakeholders and users at both the

major national and international organization and company levels. Moreover, advanced engineering education is an important factor in the

organization and deployment of the activities. The research of the NCCS – Networked Centric Control Systems group encompasses three mainobjectives: 1. Dynamic optimization for control. This encompasses necessary conditions in the form of Pontryagin´s Maximum Principle for

conventional and impulsive control problems with mixed and state constraints, new MPC formulation for the coordinated control of AUVformations satisfying the strict acoustic communication requirements, and advanced numerical algorithms for HJB equations to compute the

value function feedback control laws for invariance, trajectory tracking and formation coordination, and optimality conditions for infinite horizon

optimal control problems improved with transversality conditions of a new type. 2. Networked vehicle systems. Design and develop networkedheterogeneous (air, surface and underwater) vehicle systems enabling mixed initiative operation satisfying operational requirements such as

interoperability, persistence, robustness, and data gathering specifications. This objective requires improved single and multiple vehiclecoordinated control, single and cooperative navigation schemes as well as software tools supporting command and control, middleware,

onboard software environments and Disruption Tolerant Communication Networks (DTN). 3. Cooperative engineering. Modeling, structuredanalysis and synthesis tailored to address innovation management systems (IMS) of enterprises operating in networked business environments

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will be considered to develop appropriate design tools. This line of research is quite of interest as it addresses a context of co-petition which,

from the formal point of view poses many challenges. 4. Real-time and dependable computing and communication. Design, development andtesting of new protocols for real-time, dependable wireless communication networks having in mind industrial applications and safety critical

processes. Important embedded objectives are: articulate these components in such a way as to enable a bidirectional flow between theoreticand the applied engineering research efforts, integrate advanced fundamental and engineering formation in the research activities,

internationalization of the research through high quality networking, and assess the developments with intensive operational field testing of the

designed systems with the involvement of end-users and stakeholders.

Breve descrição das actividades desenvolvidas bem como dos desvios ocorridos durante a execução do projecto

The activities proposed by the CEO- Control, Estimation, and Optimization – group to reach its objectives can be briefly described as follows:

The research activities underlying the fundamental research involved the exercise of scientific and technical methods of Mathematical Analysis,

Functional Analysis, and Nonsmooth Analysis. Variational methods, measure theory, results from stability and viability theories, and penalizationtechniques in functional spaces are particularly important in the: (a) derivation of new necessary conditions of optimality for constrained

optimal control problems exhibiting normality, nondegeneracy, etc; (b) study of value functions and reachability sets; (c) regularity of optimalcontrol; (d) design of novel MPC schemes under weaker a priori conditions, namely, normality to ensure nondegeneracy, and results for

impulsive systems with new sampling impulsive solution concept; and (e) design of novel identification schemes for continuous time system,

linear parameter varying systems, etc., and the application of system identification techniques to model behavioral system. The researchactivities underlying the numerical implementation of the algorithms based on the theoretical results include: (a) specification of interface and

translation procedures which enable the usage of efficient usage of numerical solvers; (b) development and testing of algorithms for thecomputation of optimal controls, implementation of feedback control using the MPC schemes, and the implementation of various types of

identification algorithms. The activities aiming the application of the above developed optimal control results, MPC schemes and identificationprocedures to real life problems arising in hydro-electrical production, DC-converters, and irrigation, health systems, mobile robotics motion

control, management of agricultural resources, and gas leak detection included the interaction with specialists of the application domains for

problem formulation, definition of the solving approach and testing and evaluation of the obtained results. These research activities werearticulated with advanced research training and intense international collaboration. More details appear in the section 8 and in the file Anexo-

Progress-Technical-Report-ISRP-2011-13 - last - org datas.pdf in section 9. The activities proposed by the IE- Industrial Electronics - group toreach its objectives can be briefly described as follows: Modelling of parameter extraction methods combining optimization techniques with

experimental raw data to model the primary power sources of electric subsystems to be integrated in the overall system. The approach was the

same one to obtain an analogue multi-parametric model describing all the different processes behind the source. The computational modelingand simulation tools PSIM and Saber for complex circuits and systems, and MATLAB/SIMULINK for common systems were used to characterize

the very different dynamics of the various subsystems based on electronic components, electrical components, chemical/mechanical ones.Numerical methods able of solving differential equations describing these non-stiff systems were used to fulfill the precision requirements of

PSIM and Saber running over PSpice. The designed highly non-linear static converters and associated controllers models were validatedthrough experimental data Specific optimization and control procedures were developed to implement distributed power management and

supervisory control systems governing power flow either in renewable generation processes or power-train of electric vehicles (EV). Design and

development of power conversion network topologies and control methods were applied to the emerging areas of micro and mini hybridrenewable power production and of car electric traction. Specific short term forecasting and specific optimization techniques were developed to

increase energy efficiency in all its full life cycle from generation to consumption, including homes, offices and all electrical and electronicdevices. These research activities were articulated with advanced research training and intense international collaboration. More details appear

in the section 8 and in the file Anexo-Progress-Technical-Report-ISRP-2011-13 - last - org datas.pdf in section 9. The activities proposed by the

NCCS – Network Centric Control Systems - group to reach its objectives can be briefly described as follows: In what concerns the dynamicoptimization objectives, methods of Mathematical analysis, functional analysis, penalization techniques, variational results, and numerical

schemes to solve HJB equations will be used to: derive maximum principles for conventional and impulsive control problems satisfying mixedand state constraints under assumptions having in mind engineering requirements, develop new reach set MPC formulation satisfying

computational and communication constraints of the underwater environment, to design advanced value function based schemes for controland coordination and to develop optimality conditions for infinite horizon optimal control problems involving a novel transversality conditions.

The development of networked vehicle systems required systems engineering methodologies, supervisory control, formal modeling,

specification languages, synthesis and verification techniques from computer science and control, filtering techniques for sensor fusion, andsoftware engineering methods to design and develop the enabling perception and decision-making underlying the full life cycle of interoperable

networked vehicle systems enabling the mixed initiative operation. Another important type of activity consisted in the development andrefinement off the software and communications tool chain needed to glue together the distributed heterogeneous vehicle and devices -

command and control, middleware, onboard software environments and disruption tolerant communications network – required to satisfy the

operational requirements. Modeling and structured analysis and synthesis for the design of cooperative engineering systems tailored to addressinnovation management systems (IMS) of enterprises operating in networked business environments. Markov chains or Stochastic Petri nets,

measure theory, stochastic and timed automata, perturbation analysis and other techniques for discrete event systems, and formal real-timecalculus were used to design and develop new protocols for real-time, dependable wireless communication networks having in mind industrial

applications and safety critical processes. These research activities were articulated with advanced research training and intense internationalcollaboration. More details appear in the section 8 and in the file Anexo-Progress-Technical-Report-ISRP-2011-13 - last - org datas.pdf in

section 9. As it will be clear the overall integrative activities of the research team were quite intense and they encompassed both the internal

and the external scopes. While in the former, the synergies among the various groups research in the three vectors were exploited throughjoint collaborative activities taking advantage of their scientific and technical complementarity, in what concerns the second, a lot of effort was

put in (a) high level internationalization, (b) advanced education and training through the participation in doctoral programs and the activitiesof networks of excellence, (c) outreach to the various societal organizations with emphasis to SMEs, and, finally, (d) attraction of external

funding through a wide variety of R&D contracts in EU programs, national programs and industry. This is documented in the files Anexo-

Progress-Technical-Report-ISRP-2011-13 - last - org datas.pdf Incentivo2013-ValoresAprovados.pdf in entry 9. of the application form. Finally,it should be mentioned that there were significant deviations between the planned and the executed activities for two simple reasons: a) The

objectives and, thus, the underlying activities, were relatively open-ended; and b) The S&T program of the strategic project was stronglysupported by a large number of complementary research projects. Thus, we can assert that the objectives were strongly attained without any

meaningful change of the proposed activities.

Objectivos atingidos

The attainment of the objectives of the project PEst-OE/EEI/UI0147/2011 and its prolongation to 2013 will be described by list for each onementioned the associated journal references articles listed in the application form. This is by no means complete and further publications,

research contracts, international initiatives, advanced education and training, and outreach initiaves,etc. are available in the file Anexo-Progress-Technical-Report-ISRP-2011-13 - last - org datas.pdf that can be found in entry 9 of the application form. Moreover, the file

Incentivo2013-ValoresAprovados.pdf in the same entry reveals the extraordinary success achieved by the research team in what concerns the

economic sustainability (the funding level of the PEst-OE/EEI/UI0147/2011 project was less that 10% of the overall resources made availableby other R&D contracts. In what concerns the S&T achievements/objectives, the journal publications per item are as follows: CEO- Control,


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Estimation, and Optimization group 1. Fundamental research to: (i) derive new necessary conditions of optimality for optimal control problems,

which includes: Development of optimality conditions for constrained problems including normality, nondegeneracy, etc; study of valuefunctions and reachability sets; and regularity of optimal control (ii) design and prove properties of Model Predictive Control (MPC) schemes,

and (iii) design and prove properties of novel identification schemes, notably, the development of new Systems Identification Algorithms(continuous time system, linear parameter varying systems, etc.) and the application of system identification techniques to model behavioral

systems. 2. Numerical implementation of algorithms based on results obtained in 1. This includes: development and testing of algorithms for

the computation of optimal controls, implementation of feedback control using the MPC schemes, and the implementation of various types ofidentification algorithms. 1. F. Clarke, Y. Ledyaev, Maria do Rosário de Pinho,”An extension of the Schwarzkopf multiplier rule in optimal

control”, SIAM J.Control&Optim, Vol.49 nº2, pp.599-610, 2011. 2. Maria do Rosário de Pinho, I. Shvartsman, ”Lipschitz continuity of optimalcontrol and Lagrange multipliers in a problem with mixed and pure state constraints”, Discrete and Continuous Dynamical Systems, Series A,

Vol.29, nº2, pp. 505-521, 2011. 3. Sofia O. Lopes, F.A.C.C. Fontes, Maria do Rosáriode Pinho. “On Constraint Qualifications for Nondegenerate

Necessary Conditions of Optimality Applied to Optimal Control Problems”, Discrete and Continuous Dynamical Systems series A, AIMS, vol. 29,n. 2, 2011. 4. Md. Haider, A. Biswas, Maria do Rosário de Pinho,”A nonsmooth maximum principle for optimal control problems with state and

mixed constraints-convex case”, Dyn. Syst. & Diff. Equations, DCDS Issue Special, pp.174-183, September 2011. 5. Marta S.R. Monteiro, DalilaB.M.M. Fontes, Fernando A.C.C. Fontes “Concave Minimum Cost Network Flow Problems Solved with a Colony of Ants”, Journal of Heuristics,

pp.-, 2013 (In press. Available on-line from November 2012 http://link.springer.com/article/10.1007/s10732-012-9214-6). 6. Sofia O. Lopes, F.A.C.C. Fontes. “Normal forms of necessary conditions for dynamic optimization problems with pathwise inequality constraints”. Journal of

Mathematical Analysis and Applications, Vol.399 nº 1, pp.27-37, 2013. 7. Sofia Lopes, Fernando Fontes, Maria Do Rosário De Pinho, “An

Integral-type Constraint Qualification to Guarantee Nondegeneracy of the Maximum Principle for Optimal Control Problems with StateConstraints”, Systems & Control Letters, Elsevier, Vol.62, 2013, pp.686-692. 8. M.H. A. Biswas and Maria do Rosáriode Pinho. A maximum

principle for optimal control problems with state and mixed constraints. Submitted in 2013. 9. M. d. R. de Pinho and I. Kornienko. Differentialinclusion approach for mixed constrained problems revisited. Submitted in 2013. 10. J. A. Ramos, A. Alenany, H. Shang, and Paulo J. Lopes dos

Santos, “Subspace Algorithms for Identifying Separable in Denominator 2-D Systems with Deterministic Inputs”, IET Control & Theory

Applications Vol.5 nº 15, pp.1748-1765, 2011. 11. P.L. dos Santos, J.A. Ramos, J.M.de Carvalho, “Identification of a Benchmark Wiener-Hammerstein: Bilinear and Hammerstein-Bilinear Models”, Contr. Eng. Practice, vol 20, nº 11, pp. 1156-1164, 2012. 12. T-P Azevedo

Perdicoúlis, G. Jank, P. Lopes dos Santos, “Boundary Control of Discrete Repetitive Processes with Smoothing: controllability, observability anddisturbance attenuation”, Multidimensional Systems and Signal Processing, Springer, 2013, pp.1-14. 13. Luís A.C. Roque, Dalila B.M.M. Fontes,

Fernando A.C.C. Fontes. An Improved Biased Random Key Genetic Algorithm Approach to the Unit Commitment Problem. Submitted in 2013. 3.Application of the above results to real life problems: (i) Optimal control problems will be applied to solve problems arising in hydro-electrical

production, DC-converters, and irrigation, health systems, and to mobile robotics. (ii) The MPC scheme will be applied to the control of

formations of autonomous vehicles as well as in the management of resources in agriculture (iii) The advanced identification algorithms will beused to formulate and solve the detection of gas leak in complex distributed systems 1. F Lobo Pereira, FA Fontes, MM Ferreira, MR Pinho, VA

Oliveira, E Costa, GN Silva, “An Optimal Control Framework for Resources Management in Agriculture”, J. Conference Papers in Mathematics,Hindawi Publishing Corporation, Vol 2013 (2013), Article ID 769598, 15 pages. 2. M.H. A. Biswas, L.T. Paiva, and Maria do Rosáriode Pinho, A

seir model for control of infectious diseases with constraints”, Mathematical Biosciences and Engineering, AIMS, accepted for publication in

2013. 3. M. M. A. Ferreira, A. F. Ribeiro, G.V. Smirnov, “Local minima of quadratic functionals and control of hydro-electric power stations”,Journal of Optimization Theory and Applications, Springer, submitted in 2013. 4. P.L. dos Santos, T-P. A. Perdicoúlis, J.A. Ramos, J.L.M.de

Carvalho, G. Jank, J. Milhinhos, “An LPV Modeling and Identification Approach to Leakage Detection in High Pressure Natural GasTransportation Networks”, IEEE Trans.Contr.Syst Tech, Vol.19, No.1, pp.77-92, 2011. 5. Paulo Lopes dos Santos, T-P. Azevedo-Perdicoúlis,

Gerhard Jank, José A. Ramos and J. L. Martins de Carvalho, “Leakage detection and location in gas pipelines through an LPV identificationapproach”, Communications in Nonlinear Science and Numerical Simulation, Volume 16 Issue: 12, December 2011, pp 4657-4665. These

objectives are intertwined with other goals concerning: (i) advanced research training at the national and international level, notably through

network of excellence SADCO, as well as. The strong internationalization of the activities, and interaction with endusers and stakeholders of theconsidered application domains. IE – Industrial Electronics group 1. Modelling of renewal sources, supported on analytical formulation of

respective process in order to investigate the optimization of the generation for different renewable sources; 2. Design and implementation ofan hybrid system based on wind, sun and storage, to validate improvement of quality of service and energy efficiency. 3. Develop a laboratory

prototype to validate the electrical energy as the right energy for the kinematic chain in hybrid and electrical vehicles, to support research on

vehicle power-train and on the design of an appropriate DC Bus. 4. Develop appropriate topologies for power converters, either forinterconnection to grid or electric vehicles. 5. Study methods and mechanisms of efficiency improvement in energy consumption in common

usage, either by appropriated storage or power control. 6. Develop advanced forecasting and optimization technologies to support energymanagement systems to increase the energy efficiency. 1. Carlos J. Ramos, António P. Martins, Adriano Carvalho, “Active Filtering of DFIG

Stator and Rotor Current Harmonics Caused by Distorted Stator Voltages”, EPE Journal, vol. 21, nº1, Jan-Mar 2011, pp. 43-54. 2. J.E. Paiva,A.S. Carvalho, “Controllable hybrid power system based on renewable energy sources for modern electrical grids”, Renewable Energy Vol 53

(2013) 271-279. 3. Ignacio J. Ramirez-Rosado, L. Alfredo Fernandez-Jimenez, Claudio Monteiro, Eduardo Garcia-Garrido, Pedro Zorzano-

Santamaria, “Spatial long-term forecasting of small power photovoltaic systems expansion”, Renewable Energy, Volume 36, Issue 12,December 2011, Pages 3499-3506 4. Juan M. Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum

Residential Load Management Strategy for Real Time Pricing (RTP) Demand Response Programs”, Energy Policy, vol. 1,nº2, 2012 5. Juan M.Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum load management strategy for wind/diesel/battery

hybrid power systems”, Renewable Energy, vol. xx, pp. 1-8, 2012. 6. Claudio Monteiro, Tiago Santos, L. Alfredo Fernandez-Jimenez, Ignacio J.

Ramirez-Rosado, M. Sonia Terreros-Olarte, “Short-Term Power Forecasting Model for Photovoltaic Plants Based on Historical Similarity”,Energies 2013, 6(5), 2624-2643. 7. C. Monteiro, I. Rosado, L. Jimenez, “Short-term forecasting model for electric power production of

small-hydro power plants”, Renewable Energy, vol. 50, 2013, pp.387-394. Embedded in the above objectives of this group are othersconcerning advanced education, internationalization and technology transfer which are materialized by developing of the listed activities in

close relation with key stakeholders and users at both the major national and international organization and company levels. Moreover,advanced engineering education is an important factor in the organization and deployment of the activities. NCCS – Networked Centric Control

Systems 1. Dynamic optimization for control. This encompasses necessary conditions in the form of Pontryagin´s Maximum Principle for

conventional and impulsive control problems with mixed and state constraints, new MPC formulation for the coordinated control of AUVformations satisfying the strict acoustic communication requirements, and advanced numerical algorithms for HJB equations to compute the

value function feedback control laws for invariance, trajectory tracking and formation coordination, and optimality conditions for infinite horizonoptimal control problems improved with transversality conditions of a new type. 1. A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. The

Maximum Principle for Optimal Control Problems with State Constraints by R.V. Gamkrelidze: Revisited. J. Optim. Theory Appl. (2011) 149:

474-493. 2. A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. R.V. Gamkrelidze´s Maximum Principle for Optimal Control Problems withBounded Phase Coordinates and Its Relation to Other Optimality Conditions. ISSN 10645624, Doklady Mathematics, 2011, Vol. 83, No. 1, pp.

131-135. 3. Arutyunov A.V., Zhukovskiy E.S., Zhukovskiy S.E., Covering mappings and well-posedness of nonlinear Volterra equations.Nonlinear Analysis: Theory, Methods and Applications, 75 (2012), P. 1026 - 1044. 4. A.V. Arutyunov, D.Yu. Karamzin, "Regular zeros of

quadratic maps and their application", Mat. Sb., 202:6 (2011), 3-28. 5. Jorge Estrela da Silva, João Borges de Sousa, A dynamic programmingbased path-following controller for autonomous vehicles, Control and Intelligent Systems, Vol. 39, No. 4, 2011. 6. A.V. Arutyunov, D.Yu.

Karamzin, F.Lobo Pereira. On a generalization of the impulsive control concept: controlling system jumps. Discrete and Continuous Dynamical


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Systems, Vol. 29, 2, February 2011, pp. 403-415. 7. A.V. Arutyunov, S. E. Zhukovskiy, Z. T. Mingaleva, Differential Properties of the Minimum

Function for Diagonalizable Quadratic Problems. Computational Mathematics and Mathematical Physics, 2012, Vol. 52, No. 10, pp. 1342-1350.8. S.E. Zhukovskiy, Z.T. Mingaleeva. Existence and continuity of an implicit function in the neighborhood of an abnormal point, Moscow

University Computational Mathematics and Cybernetics, 2012, Vol. 36, No. 2, pp. 60-65. 9. Arutyunov, A. V.; Karamzin, D. Yu.; Pereira, F.Pontryagin´s maximum principle for constrained impulsive control problems, Nonlinear Analysis-Theory, Methods & Applications Vol: 75 No: 3

Pp: 1045-1057 Feb 2012. 10. Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. Inverse Function in the Neighborhood of an Abnormal Point of

a Smooth Map, Doklady Mathematics, Vol: 85 No: 3 May 2012 Pp: 305-308. 11. Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. OnSecond-Order Necessary Optimality Conditions in Finite-Dimensional Abnormal Optimization Problems, Doklady Mathematics, Vol: 85 No: 3 May

2012, Pp: 328-330. 12. E.Y. Braverman, S.E. Zhukovskiy. Absolute and delay-dependent stability of equations with a distributed delay. Discreteand Continuous Dynamical Systems, V. 32, N. 6, June 2012, P. 2041 - 2061. 13. A. V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “On

Coincidence Points of Mappings in Partially Ordered Spaces”, Doklady Mathematics, Vol. 88, No. 3, 2013 pp. 710–713 14. A.V. Arutyunov, S. E.

Zhukovskiy, N. G. Pavlova, “Equilibrium price as a coincidence point of two mappings”, Computational Mathematics and Mathematical Physics,vol. 53, no 2, Feb 2013, pp 158-169. 15. A.V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “Coincidence points of set-valued mappings in

partially ordered spaces”, Doklady Mathematics, Vol 88, No. 3, Nov 2013, pp 727-729. 2. Networked vehicle systems. Design and developnetworked heterogeneous (air, surface and underwater) vehicle systems enabling mixed initiative operation satisfying operational requirements

such as interoperability, persistence, robustness, and data gathering specifications. This objective requires improved single and multiple vehiclecoordinated control, single and cooperative navigation schemes as well as software tools supporting command and control, middleware,

onboard software environments and Disruption Tolerant Communication Networks (DTN). 1. J.G. Manathara, P.B. Sujit and J.B. Sousa: Search

strategies for multiple UAV search and destroy missions, Journal of Intelligent and Robotic Systems, Vol. 61, No. 1, Jan 2011, pp. 355-367. 2.Yanrui Geng, Richard Deurloo, Luísa Bastos,Hybrid. Derivative-free Extended Kalman Filter for Unknown Lever-arm Estimation in Tightly

Coupled DGPS/INS Integration, GPS Solutions. Vol. 15 Issue 2, April 2011. 3. Sujit, P.B; Lucani, Daniel; Sousa, João Borges de, “BridgingCooperative Sensing and Route Planning of Autonomous Vehicles”, IEEE Journal on Selected Areas in Communications 30, 5: 912-922, 2012. 4.

Sérgio Loureiro Fraga, Fernando Lobo Pereira, Hamilton-Jacobi-Bellman Equation and Feedback Synthesis for Impulsive Control, IEEE Trans on

Automatic Control, Vol. 57 (1), Jan 2012, pp. 244-248. 5. T. Grilo, F. Lobo Pereira, S. Gama, “Optimal Control of Particle Advection in Couetteand Poiseuille Flows”, J. Conference Papers in Mathematics, Hindawi Publishing Corporation, vol. 2013. 6. P.B. Sujit and Srikanth Saripalli: An

empirical evaluation of co-ordination strategies for an AUV and UAV, Journal of Intelligent & Robotic Systems, Volume 69, Issue 1-4, pp373-384, 2013. 7. P.B. Sujit, S. Saripalli and B. Hudzietz: Route planning for angle constrained terrain mapping using an unmanned aerial

vehicle, Journal of Intelligent and Robotics Systems, Vol. 69, 2013, pp. 276–263. 8. P.B. Sujit and S. Saripalli: An empirical evaluation ofco-ordination strategies for an AUV and UAV, Journal of Intelligent and Robotics Systems, Vol. 70, 2013, pp. 373–384. 9. Fernando A. Auat

Cheein; Fernando M. Lobo Pereira; Fernando Di Sciascio; Ricardo Carelli, Autonomous Simultaneous Localization and Mapping driven by Monte

Carlo uncertainty maps-based navigation Knowledge Engineering Review, vol 28(1) 2013, pp.35-57 (published on-line in Nov 2012). 10.Ricardo Bencatel, João Sousa, and Anouck R. Girard, “Atmospheric Flow Field Models Applicable for Aircraft Endurance Extension”, Journal of

Progress in Aerospace Sciences, Elsevier, vol. 61, July 2013, pp. 1-25. 11. Krishnendu Chatterjee, Vinayak S. Prabhu, “Synthesis of memory-efficient, clock-memory free, and non-Zeno safety controllers for timed systems”, Journal of Information and Computation, July 2013, vol.

228-229, pp. 83-119. 12. Ionela Prodan, Sorin Olaru, Ricardo Bencatel, João B. Sousa, Cristina Stoica, Silviu-lulian Niculescu, “Receding horizon

flight control for trajectory tracking of autonomous aerial vehicles”, Journal of Control Engineering Practice, Elsevier, vol. 21, n. 10, Oct 2013,pp. 1334—1349. 13. P.B. Sujit, Srikanth Saripalli, J. Borges de Sousa, “UAV Path Following: A survey and analysis of algorithms for fixed wing

UAVs”, IEEE Control Systems Magazine, Feb. 2014, accepted for publication in 2013. 14. Tu Dac Ho, Esten Ingar Grøtli, P. B. Sujit, Tor ArneJohansen, J.Borges Sousa, “Path Planning for a UAV Data Mule and Wireless Sensor Network”, Journal of Intelligent and Robotic Systems,

submitted for publication in 2013. 3. Cooperative engineering. Modeling, structured analysis and synthesis tailored to address innovationmanagement systems (IMS) of enterprises operating in networked business environments will be considered to develop appropriate design

tools. This line of research is quite of interest as it addresses a context of co-petition which, from the formal point of view poses many

challenges. 1. Peschl, M., Almeida, F., Dias, P., Gonçalves, G. and Hoffmeister, M., "Designing and Implementation of an IntelligentManufacturing System", Journal of Industrial Engineering and Management, Barcelona, Spain, Vol. 4, No. 4, 2011. 2. Peschl, M., Almeida, F.,

Dias, P., Gonçalves, G. and Hoffmeister, M., "A proposition of a manufactronic networked approach for intelligent and flexible manufacturingsystems", International Journal of Industrial Engineering Computations (IJIEC), Ontario, Canada, Vol. 2, No. 3, 2011. 4. Real-time and

dependable computing and communication. Design, development and testing of new protocols for real-time, dependable wireless

communication networks having in mind industrial applications and safety critical processes. Important embedded objectives are: articulatethese components in such a way as to enable a bidirectional flow between theoretic and the applied engineering research efforts, integrate

advanced fundamental and engineering formation in the research activities, internationalization of the research through high qualitynetworking, and assess the developments with intensive operational field testing of the designed systems with the involvement of end-users

and stakeholders. 1. R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, Real-Time Industrial Communication over IEEE802.11e WirelessLocal Area Networks, IEEE Latin America Transactions, Vol. 10, No. 3, pp. 1844-1849, 2012. 2. Silva, L. Guedes, P. Portugal, F. Vasques,

Reliability and Availability Evaluation of Wireless Sensor Networks for Industrial Applications, Sensors, Vol. 12, Issue1, pp. 806-838, 2012. 3. V.

Rosset, P. Souto, P. Portugal, F. Vasques, Modeling the reliability of a group membership protocol for dual-scheduled time division multipleaccess networks, Journal of Computer Standards & Interfaces, Vol.34 nº 3, pp.281-291, 2012. 4. Ivanovitch Silva, Paulo Portugal, Luiz Affonso

Guedes, Francisco Vasques, “Reliability and Availability Evaluation of Wireless Sensor Networks for Industrial Applications”, Sensors, Vol.12 nº1, pp.806-838, 2012. 5. R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, “A new MAC scheme specifically suited for real-time

industrial communication based on IEEE 802.11e”, Computers and Electrical Engineering, 2012 pp.1684-1704. 6. D. Costa, L. Guedes, Francisco

Vasques, Paulo Portugal, “Energy-Efficient Packet Relaying in Wireless Image Sensor Networks Exploiting the Sensing Relevancies of SourceNodes and DWT Coding”, Journal of Sensor and Actuator Networks, pp.424-448, 2013. 7. D. Costa, L. Guedes, Francisco Vasques, Paulo

Portugal, “Adaptive monitoring relevance in camera networks for critical surveillance applications”, International Journal of Distributed SensorNetworks, 2013. 8. D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Redundancy-based semi-reliable packet transmission in wireless

visual sensor networks exploiting the sensing relevancies of source nodes”, WSEAS Transactions on Communications, pp.468-478, 2013.

Realização Financeira (justificação sumária dos desvios ocorridos durante a execução do projecto)

The project’s budget of the period 2011-12 was practically fully executed, being observed the following deviations per budget item Budget item

Approved value Executed Value Balance Human Resources 44,0 49,3 -5,3 Missions 36,0 22,6 13,4 Services Acquisition 3,2 8,9 -5,7 Equipment

0,0 2,4 -2,4 Overheads 16,6 16,6 0,0 Total 99,8 99,8 0,0 The reasons for these deviations reside on the following factors: • The fact that thisStrategic Project only offers a very partial – albeit an important one - funding of the overall activities undertaken by the research team.

Typically, it supports activities and initiatives that are important from the strategic point of view and, that, at the same time, cannot be fundedby other research contracts. • The recent dramatic change of the administrative procedures which became much less flexible and, hence, less

adequate to deal with the risk management inherent to the research activity. • The huge delay between the moment in which executive


4 of 11 09/03/2014 23:48

decisions are made and their final materialization making it difficult a timely financial management of the project. Although the approval by FCT

of part of the financial execution of the project is still pending, we believe that most of it was practically fully executed, being observed thefollowing deviations (in K €) per budget item Budget item Approved value Executed Value Balance

---------------------------------------------------------------------------------------------------- Human Resources 21,96 24,32 -2,36 Missions 8,67 6,542,13 Services Acquisition 0,56 0,33 0,23 Equipment 0,00 0,00 0,00 Overheads 6,24 6,24 0,00

---------------------------------------------------------------------------------------------------- Total 37,42 37,42 0,00 The observed deviations are very

small when taking into account the total budget of the overall activities. The reasons are essentially the same as those pointed out for theperiod 2001-12.

3. Instituições que Participam no Projecto

DesignaçãoNº Pessoas

MêsDesistiu

Faculdade de Engenharia da Universidade do Porto (FE/UP) 1800

4. Equipa de Investigação

NomeCargo

FunçãoTarefas %Tempo

Dt.Entrada

Dt. Saída Desistiu

Fernando Manuel FerreiraLobo Pereira

Inv.Responsável

70%

Abílio Joaquim Gomes de

Oliveira AzenhaInvestigador 100%

Adriano da Silva Carvalho Investigador 70%

Alexandre Jorge AradaSousa

Investigador 50%

Amélia Cristina DuqueCaldeira Matos

Investigador 70%

Ana Cristina Teixeira Pinto Investigador 50%

Ana Filipa de CastroAmarante e Ribeiro

Investigador 50% 01-07-2011

António José de Pina Martins Investigador 50%

António Sérgio Borges dos

Santos FerreiraInvestigador 100% 01-01-2011

Armando Luis Sousa Araujo Investigador 60%

Bruno Filipe da Silva

LoureiroInvestigador 100%

Carlos João Rodrigues Costa

RamosInvestigador 100%

Cláudio Domingos MartinsMonteiro

Investigador 60% 01-01-2011

Dmitry Karamzin Investigador 100%

Eduardo Felippe Aguiar

MendesInvestigador 60%

Eduardo Resende Brandão

MarquesInvestigador 50%

Elói Teixeira Pereira Investigador 50%

Fernando Arménio da Costa

Castro e FontesInvestigador 70%

Filipe Manuel Costa Ferreira Investigador 100%

Gil Manuel Magalhães de

Andrade GonçalvesInvestigador 70%

Gueorgui Vitalievitch

SmirnovInvestigador 5%

Hugo Miguel Rodrigues Dias Investigador 100%


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Hugo Moreira de Sousa Pinto Investigador 25%

Igor Kornienko Investigador 70%

João Luís Silva Campos

PereiraInvestigador 100%

Jorge Leite Martins de

CarvalhoInvestigador 40%

Jorge Manuel Estrela daSilva

Investigador 75%

José Carlos de Queirós Pinto Investigador 100%

José Miguel Almeida Braga Investigador 100%

Luís António Dias Madureira Investigador 50%

Luís Augusto Correia Roque Investigador 20%

Marcelo Borges Nogueira Investigador 100%

Maria do Rosário Marques

Fernandes Teixeira de PinhoInvestigador 70%

Maria Margarida de Amorim

FerreiraInvestigador 70%

Maria Teresa Duarte Barroca

Delgado do OuteiroInvestigador 50%

Paulo Alexandre de Sousa

DiasInvestigador 100%

Paulo Jorge Campos Costa Investigador 50%

Paulo Jorge de Azevedo

Lopes dos SantosInvestigador 70%

Paulo Manuel de Jesus

Madaleno LopesInvestigador 100%

Pedro Calado Lemos Ribeiro Investigador 100%

Renato Miguel dos Santos

CaldasInvestigador 100%

Ricardo André da Silva

MartinsInvestigador 100%

Ricardo Ayres Gomes

BencatelInvestigador 100%

Ricardo Joel da Mota Gomes Investigador 100%

Rui Jorge Pereira Gonçalves Investigador 100%

Sofia Oliveira Lopes Investigador 20%

Sujit Pedda Baliyarasimhuni Investigador 100%

Teresa Daniela Batista de

Jesus GriloInvestigador 70% 01-10-2011

Vinayak S.Prabhu Investigador 100%

Sergey Zhukovskiy Investigador

Control, Estimation and Optimization ***

Industrial Electronics *** Network

Centric Control Systems

100% 01-01-2013

Mário Filipe Amorim Faria deOliveira Lopes

OutroControl, Estimation and Optimization ***Industrial Electronics *** Network

Centric Control Systems

100% 01-02-2013

Alfredo Manuel de Oliveira

MartinsInvestigador 20% 30-06-2011 Sim

Ana Sofia Rufino Ferreira Investigador 100% 07-10-2010 Sim

Bernardo Arede Amaro

MacielInvestigador 100% 31-12-2010 Sim

Bruno Miguel Marques Terra Investigador 100% 31-01-2011 Sim

Carlos Eduardo AzevedoOliveira

Investigador 100% 08-04-2011 Sim


6 of 11 09/03/2014 23:48

Eduardo Alexandre Pereirada Silva


Fernando Luís Ferreira de

AlmeidaInvestigador 100% 30-11-2011 Sim

Hugo Alexandre Almeida

FereiraInvestigador 20% 28-02-2011 Sim

Hugo Daniel Fernandes

CamposInvestigador 100% 31-12-2011 Sim

Ian Marsh Investigador 70% 31-01-2012 Sim

Joel Renato da Silva Cardoso Investigador 100% 12-02-2013 Sim

José Alexandre de CarvalhoGonçalves


José António RodriguesPereira de Faria


José Eduardo Quadrado

CorreiaInvestigador 100% 31-12-2013 Sim

José Miguel Soares de

AlmeidaInvestigador 20% 31-12-2011 Sim

Luis Filipe Ferreira Silva

PenedaInvestigador 50% 30-03-2011 Sim

Mangal Kothari Investigador 100% 22-05-2012 Sim

Mario Jorge Rodrigues de

SousaInvestigador 70% 31-12-2013 Sim

MD. Haider Ali Biswas Investigador 100% 31-12-2013 Sim

Orlando Manuel de CastroFerreira Soares


Paulo José Lopes MachadoPortugal


Pedro Alexandre Guimarães

Lobo Ferreira SoutoInvestigador 50% 31-12-2012 Sim

Pedro Nuno Vaz Teixeira Investigador 100% 09-01-2012 Sim

Ricardo José dos Santos ReisPinto da Silva


Rui Filipe Marques Chibante Investigador 50% 31-12-2013 Sim

Rui Manuel Ferreira Gomes Investigador 100% 30-06-2012 Sim

Sérgio Loureiro Fraga Investigador 100% 31-12-2010 Sim

Simone Sartori Investigador 100% 31-03-2011 Sim

Yanrui Geng Investigador 100% 01-01-2009 01-01-2012 Sim

Sílvia Alexandra Ferraz deMatos Camelo

Outro

Control, Estimation and Optimization ***

Industrial Electronics *** NetworkCentric Control Systems

50% 01-10-2011 30-04-2012 Sim

5. Indicadores de Realização Física

IndicadoresQuantidade

realizada

A - Publicações

Livros 20

Artigos em revistas internacionais 60

Artigos em revistas nacionais 9

B - Comunicações

Comunicações em encontros científicos internacionais 146

Comunicações em encontros científicos nacionais 13


7 of 11 09/03/2014 23:48

C - Relatórios 5

D - Organização de seminários e conferências 38

E - Formação avançada

Teses de Doutoramento 9

Teses de Mestrado 31

Outras 6

F - Modelos 5

G - Aplicações computacionais 5

H - Instalações piloto 6

I - Protótipos laboratoriais 18

J - Patentes 1

L - Outros

6. Publicações

Ano Publicações URL

2011A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. The Maximum Principle for Optimal Control Problems with

State Constraints by R.V. Gamkrelidze: Revisit ed. J. Optim. Theory Appl. (2011) 149: 474-493.

http://www.fe.up.pt

/isrp/pub/N1.pdf

2011

A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. R.V. Gamkrelidze´s Maximum Principle for Optimal Control

Problems with Bounded Phase Coordinates and I ts Relation to Other Optimality Conditions. ISSN10645624, Doklady Mathematics, 2011, Vol. 83, No. 1, pp. 131-135.

http://www.fe.up.pt

/isrp/pub/N2.pdf

2011Peschl, M., Almeida, F., Dias, P., Gonçalves, G. and Hoffmeister, M., "Designing and Implementation of anIntelligent Manufacturing System", Journal o f Industrial Engineering and Management, Barcelona, Spain,

Vol. 4, No. 4, 2011.

http://www.fe.up.pt/isrp/pub/N3.pdf

2011A.V. Arutyunov, D.Yu. Karamzin, "Regular zeros of quadratic maps and their application", Mat. Sb., 202:6

(2011), 3-28.

http://www.fe.up.pt

/isrp/pub/N4.pdf

2011

Peschl, M., Almeida, F., Dias, P., Gonçalves, G. and Hoffmeister, M., "A proposition of a manufactronic

networked approach for intelligent and flexibl e manufacturing systems", International Journal of IndustrialEngineering Computations (IJIEC), Ontario, Canada, Vol. 2, No. 3, 2011.


2011Jorge Estrela da Silva, João Borges de Sousa, A dynamic programming based path-following controller forautonomous vehicles, Control and Intelligent S ystems, Vol. 39, No. 4, 2011.


2011

P.L. dos Santos, T-P. A. Perdicoúlis, J.A. Ramos, J.L.M.de Carvalho, G. Jank, J. Milhinhos, “An LPV Modeling

and Identification Approach to Leakage De tection in High Pressure Natural Gas Transportation Networks”,

IEEE Trans.Contr.Syst Tech, Vol.19, No.1, pp.77-92, 2011.

http://www.fe.up.pt

/isrp/pub/C1.pdf

2011J. A. Ramos, A. Alenany, H. Shang, and Paulo J. Lopes dos Santos, “Subspace Algorithms for IdentifyingSeparable in Denominator 2-D Systems with Deter ministic Inputs”, IET Control & Theory Applications Vol.5

nº 15, pp.1748-1765, 2011.

http://www.fe.up.pt/isrp/pub/C2.pdf

2011F. Clarke, Y. Ledyaev, Maria do Rosário de Pinho,”An extension of the Schwarzkopf multiplier rule in optimal

control”, SIAM J.Control&Optim, Vol.49 nº 2, pp.599-610, 2011.

http://www.fe.up.pt

/isrp/pub/C3.pdf

2011

Maria do Rosáriode Pinho, I. Shvartsman, ”Lipschitz continuity of optimal control and Lagrange multipliers in

a problem with mixed and pure state cons traints”, Discrete and Continuous Dynamical Systems, Series A,Vol.29, nº2, pp. 505-521, 2011.

http://www.fe.up.pt

/isrp/pub/C4.pdf

2011Sofia O. Lopes, F.A.C.C. Fontes, Maria do Rosáriode Pinho. “On Constraint Qualifications for NondegenerateNecessary Conditions of Optimality Applied to Optimal Control Problems”, Discrete and Continuous

Dynamical Systems series A, AIMS, vol. 29, n. 2, 2011.


2011Carlos J. Ramos, António P. Martins, Adriano Carvalho, “Active Filtering of DFIG Stator and Rotor Current

Harmonics Caused by Distorted Stator Voltage s”, EPE Journal, vol. 21, nº1, Jan-Mar 2011, pp. 43-54.

http://www.fe.up.pt

/isrp/pub/I1.pdf

2011J.G. Manathara, P.B. Sujit and J.B. Sousa: Search strategies for multiple UAV search and destroy missions,

Journal of Intelligent and Robotic Systems, Vol. 61, No. 1, Jan 2011, pp. 355-367.

http://www.fe.up.pt

/isrp/pub/N7.pdf

2011

A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. On a generalization of the impulsive control concept:

controlling system jumps. Discrete and Continuou s Dynamical Systems, Vol. 29, 2, February 2011, pp.403-415.


2011Yanrui Geng, Richard Deurloo, Luísa Bastos,Hybrid. Derivative-free Extended Kalman Filter for Unknown

Lever-arm Estimation in Tightly Coupled DGPS/INS Integration, GPS Solutions. Vol. 15 Issue 2, April 2011.

http://www.fe.up.pt

/isrp/pub/N9.pdf

2011

Md. Haider, A. Biswas, Maria do Rosário de Pinho,”A nonsmooth maximum principle for optimal control

problems with state and mixed constraints-convex c ase”, Dyn. Syst. & Diff. Equations, DCDS Issue Special,

pp.174-183, September 2011.

http://www.fe.up.pt

/isrp/pub/C6.pdf


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2011

Paulo Lopes dos Santos, T-P. Azevedo-Perdicoúlis, Gerhard Jank, José A. Ramos and J. L. Martins deCarvalho, “Leakage detection and location in gas pi pelines through an LPV identification approach”,

Communications in Nonlinear Science and Numerical Simulation, Volume 16 Issue: 12, December 2011, pp4657-4665.

http://www.fe.up.pt

/isrp/pub/C7.pdf

2011Ignacio J. Ramirez-Rosado, L. Alfredo Fernandez-Jimenez, Claudio Monteiro, Eduardo Garcia-Garrido, PedroZorzano-Santamaria, “Spatial long-term foreca sting of small power photovoltaic systems expansion”,

Renewable Energy, Volume 36, Issue 12, December 2011, Pages 3499-3506

http://www.fe.up.pt

/isrp/pub/I2.pdf

2012P.L. dos Santos, J.A. Ramos, J.M.de Carvalho, “Identification of a Benchmark Wiener-Hammerstein: Bilinear

and Hammerstein-Bilinear Models”, Contr. Eng . Practice, vol 20, nº 11, pp. 1156-1164, 2012.

http://www.fe.up.pt

/isrp/pub/I3.pdf

2012

Juan M. Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum Residential

Load Management Strategy for Real Time Pricin g (RTP) Demand Response Programs”, Energy Policy, vol.1,nº2, 2012

http://www.fe.up.pt/isrp/pub/I4.pdf

2012

Juan M. Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum load

management strategy for wind/diesel/battery hybrid p ower systems”, Renewable Energy, vol. xx, pp. 1-8,

2012.

http://www.fe.up.pt

/isrp/pub/I5.pdf

2012Arutyunov A.V., Zhukovskiy E.S., Zhukovskiy S.E., Covering mappings and well-posedness of nonlinearVolterra equations. Nonlinear Analysis: Theory, Me thods and Applications, 75 (2012), P. 1026 - 1044.


2012A.V. Arutyunov, S. E. Zhukovskiy, Z. T. Mingaleva, Differential Properties of the Minimum Function forDiagonalizable Quadratic Problems. Computationa l Mathematics and Mathematical Physics, 2012, Vol. 52,

No. 10, pp. 1342-1350.


2012

S.E. Zhukovskiy, Z.T. Mingaleeva. Existence and continuity of an implicit function in the neighborhood of an

abnormal point, Moscow University Computa tional Mathematics and Cybernetics, 2012, Vol. 36, No. 2, pp.60-65.

http://www.fe.up.pt

/isrp/pub/N12.pdf

2012R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, Real-Time Industrial Communication overIEEE802.11e Wireless Local Area Networks, IEEE Lati n America Transactions, Vol. 10, No. 3, pp.

1844-1849, 2012.

http://www.fe.up.pt

/isrp/pub/N13.pdf

2012Silva, L. Guedes, P. Portugal, F. Vasques, Reliability and Availability Evaluation of Wireless Sensor Networks

for Industrial Applications, Sensors, V ol. 12, Issue1, pp. 806-838, 2012

http://www.fe.up.pt

/isrp/pub/N14.pdf

2012

V. Rosset, P. Souto, P. Portugal, F. Vasques, Modeling the reliability of a group membership protocol for

dual-scheduled time division multiple access networks, Journal of Computer Standards & Interfaces, Vol.34nº 3, pp.281-291, 2012.


2012Ivanovitch Silva, Paulo Portugal, Luiz Affonso Guedes, Francisco Vasques, “Reliability and AvailabilityEvaluation of Wireless Sensor Networks for Ind ustrial Applications”, Sensors, Vol.12 nº 1, pp.806-838,

2012.

http://www.fe.up.pt

/isrp/pub/N16.pdf

2012Sujit, P.B; Lucani, Daniel; Sousa, João Borges de, “Bridging Cooperative Sensing and Route Planning of

Autonomous Vehicles”, IEEE Journal on Selected Areas in Communications 30, 5: 912-922, 2012.

http://www.fe.up.pt

/isrp/pub/N17.pdf

2012R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, “A new MAC scheme specifically suited forreal-time industrial communication based on IEEE 802.11e”, Computers and Electrical Engineering, 2012

pp.1684-1704.


2012Sérgio Loureiro Fraga, Fernando Lobo Pereira, Hamilton-Jacobi-Bellman Equation and Feedback Synthesis

for Impulsive Control, IEEE Trans on Automatic C ontrol, Vol. 57 (1), Jan 2012, pp. 244-248.

http://www.fe.up.pt

/isrp/pub/N19.pdf

2012

Arutyunov, A. V.; Karamzin, D. Yu.; Pereira, F. Pontryagin´s maximum principle for constrained impulsive

control problems, Nonlinear Analysis-Theory, Methods & Applications Vol: 75 No: 3 Pp: 1045-1057 Feb2012.

http://www.fe.up.pt

/isrp/pub/N20.pdf

2012Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. Inverse Function in the Neighborhood of an AbnormalPoint of a Smooth Map, Doklady Mathematics, Vol: 85 No: 3 May 2012 Pp: 305


2012Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. On Second-Order Necessary Optimality Conditions inFinite-Dimensional Abnormal Optimization Problems , Doklady Mathematics, Vol: 85 No: 3 May 2012, Pp:

328-330.

http://www.fe.up.pt

/isrp/pub/N22.pdf

2012E.Y. Braverman, S.E. Zhukovskiy. Absolute and delay-dependent stability of equations with a distributed

delay. Discrete and Continuous Dynamical Syste ms, V. 32, N. 6, June 2012, P. 2041 - 2061.

http://www.fe.up.pt

/isrp/pub/N23.pdf

2013

Fernando A. Auat Cheein; Fernando M. Lobo Pereira; Fernando Di Sciascio; Ricardo Carelli, Autonomous

Simultaneous Localization and Mapping driven by M onte Carlo uncertainty maps-based navigationKnowledge Engineering Review, vol 28(1) 2013, pp.35-57 (published on-line in Nov 2012).


2013

Marta S.R. Monteiro, Dalila B.M.M. Fontes, Fernando A.C.C. Fontes “Concave Minimum Cost Network Flow

Problems Solved with a Colony of Ants”, Journal o f Heuristics, pp.-, 2013 (In press. Available on-line from

November 2012 http://link.springer.com/article/10.1007/s10732-012-9214-6).

http://www.fe.up.pt

/isrp/pub/C8.pdf

2013

Sofia O. Lopes, F. A.C.C. Fontes. “Normal forms of necessary conditions for dynamic optimization problems

with pathwise inequality constraints”. Journ al of Mathematical Analysis and Applications, Vol.399 nº 1,pp.27-37, 2013. http://www.fe.up.pt/isrp/pub/C9.pdf


2013

Sofia Lopes, Fernando Fontes, Maria Do Rosário De Pinho, “An Integral-type Constraint Qualification to

Guarantee Nondegeneracy of the Maximum Principl e for Optimal Control Problems with State Constraints”,

Systems & Control Letters, Elsevier, Vol.62, 2013, pp.686-692.

http://www.fe.up.pt

/isrp/pub/C10.pdf


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2013T-P Azevedo Perdicoúlis, G. Jank, P. Lopes dos Santos, “Boundary Control of Discrete Repetitive Processeswith Smoothing: controllability, observabili ty and disturbance attenuation”, Multidimensional Systems and

Signal Processing, Springer, 2013, pp.1-14.

http://www.fe.up.pt

/isrp/pub/C11.pdf

2013Luís A.C. Roque, Dalila B.M.M. Fontes, Fernando A.C.C. Fontes. An Improved Biased Random Key Genetic

Algorithm Approach to the Unit Commitment Problem . Submitted in 2013.

http://www.fe.up.pt

/isrp/pub/C12.pdf

2013J.E. Paiva, A.S. Carvalho, “Controllable hybrid power system based on renewable energy sources formodern electrical grids”, Renewable Energy Vol 53 ( 2013) 271-279.


2013Claudio Monteiro, Tiago Santos, L. Alfredo Fernandez-Jimenez, Ignacio J. Ramirez-Rosado, M. SoniaTerreros-Olarte, “Short-Term Power Forecasting Model for Photovoltaic Plants Based on Historical

Similarity”, Energies 2013, 6(5), 2624-2643.


2013C. Monteiro, I. Rosado, L. Jimenez, “Short-term forecasting model for electric power production of

small-hydro power plants”, Renewable Energy, vol. 5 0, 2013, pp.387-394.

http://www.fe.up.pt

/isrp/pub/I8.pdf

2013

D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Energy-Efficient Packet Relaying in Wireless

Image Sensor Networks Exploiting the Sensing Rel evancies of Source Nodes and DWT Coding”, Journal ofSensor and Actuator Networks, pp.424-448, 2013.


2013D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Adaptive monitoring relevance in camera networksfor critical surveillance applications”, Int ernational Journal of Distributed Sensor Networks, 2013.


2013

D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Redundancy-based semi-reliable packet

transmission in wireless visual sensor networks exploit ing the sensing relevancies of source nodes”, WSEAS

Transactions on Communications, pp.468-478, 2013.

http://www.fe.up.pt

/isrp/pub/N27.pdf

2013P.B. Sujit and Srikanth Saripalli: An empirical evaluation of co-ordination strategies for an AUV and UAV,

Journal of Intelligent & Robotic Systems, V olume 69, Issue 1-4, pp 373-384, 2013.

http://www.fe.up.pt

/isrp/pub/N28.pdf

2013P.B. Sujit, S. Saripalli and B. Hudzietz: Route planning for angle constrained terrain mapping using anunmanned aerial vehicle, Journal of Intelligen t and Robotics Systems, Vol. 69, 2013, pp. 276–263.


2013P.B. Sujit and S. Saripalli: An empirical evaluation of co-ordination strategies for an AUV and UAV, Journalof Intelligent and Robotics Systems, Vol. 70, 2013, pp. 373–384.


2013F Lobo Pereira, FA Fontes, MM Ferreira, MR Pinho, VA Oliveira, E Costa, GN Silva, “An Optimal ControlFramework for Resources Management in Agricultur e”, J. Conference Papers in Mathematics, Hindawi

Publishing Corporation, Vol 2013 (2013), Article ID 769598, 15 pages.

http://www.fe.up.pt

/isrp/pub/N31.pdf

2013T. Grilo, F. Lobo Pereira, S. Gama, “Optimal Control of Particle Advection in Couette and Poiseuille Flows”, J.

Conference Papers in Mathematics, Hind awi Publishing Corporation, vol. 2013.

http://www.fe.up.pt

/isrp/pub/N32.pdf

2013A. V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “On Coincidence Points of Mappings in Partially

Ordered Spaces”, Doklady Mathematics, Vol. 88, No . 3, 2013 pp. 710–713

http://www.fe.up.pt

/isrp/pub/N33.pdf

2013A. V. Arutyunov, S. E. Zhukovskiy, N. G. Pavlova, “Equilibrium price as a coincidence point of twomappings”, Computational Mathematics and Mathematic al Physics, vol. 53, no 2, Feb 2013, pp 158-169.


2013Ricardo Bencatel, João Sousa, and Anouck R. Girard, “Atmospheric Flow Field Models Applicable for AircraftEndurance Extension”, Journal of Progress i n Aerospace Sciences, Elsevier, vol. 61, July 2013, pp. 1-25.


2013Krishnendu Chatterjee, Vinayak S. Prabhu, “Synthesis of memory-efficient, clock-memory free, andnon-Zeno safety controllers for timed systems”, Journ al of Information and Computation, July 2013, vol.

228-229, pp. 83-119.

http://www.fe.up.pt

/isrp/pub/N36.pdf

2013

Ionela Prodan, Sorin Olaru, Ricardo Bencatel, João B. Sousa, Cristina Stoica, Silviu-lulian Niculescu,

“Receding horizon flight control for trajectory tracking of autonomous aerial vehicles”, Journal of ControlEngineering Practice, Elsevier, vol. 21, n. 10, Oct 2013, pp. 1334—1349.


2013A. V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “Coincidence points of set-valued mappings in partiallyordered spaces”, Doklady Mathematics, Vol 88, No. 3, Nov 2013, pp 727-729.


2013P.B. Sujit, Srikanth Saripalli, J. Borges de Sousa, “UAV Path Following: A survey and analysis of algorithms

for fixed wing UAVs”, IEEE Control System s Magazine, Feb. 2014, accepted for publication in 2013.

http://www.fe.up.pt

/isrp/pub/N39.pdf

2014M.H. A. Biswas, L.T. Paiva, and Maria do Rosário de Pinho, A seir model for control of infectious diseases

with constraints”, Mathematical Biosciences and Engineering, AIMS, accepted for publication in 2013.

http://www.fe.up.pt

/isrp/pub/C13.pdf

2014M. M. A. Ferreira, A. F. Ribeiro, G.V. Smirnov, “Local minima of quadratic functionals and control of hydro-

electric power stations”, Journal of Optim ization Theory and Applications, Springer, submitted in 2013.

http://www.fe.up.pt

/isrp/pub/C14.pdf

2014M.H. A. Biswas and Maria do Rosáriode Pinho. A maximum principle for optimal control problems with state

and mixed constraints. Submitted in 2013.

http://www.fe.up.pt

/isrp/pub/C15.pdf

2014M. d. R. de Pinho and I. Kornienko. Differential inclusion approach for mixed constrained problems revisited.

Submitted in 2013.

http://www.fe.up.pt

/isrp/pub/C16.pdf

2014

Tu Dac Ho, Esten Ingar Grøtli, P. B. Sujit, Tor Arne Johansen, J.Borges Sousa, “Path Planning for a UAV

Data Mule and Wireless Sensor Network”, Journa l of Intelligent and Robotic Systems, submitted forpublication in 2013.


7. Equipamento


10 of 11 09/03/2014 23:48

Equipamento Nº Recibo Data Observações

Computador 110314 30-06-2011 Fornecedor: MEDIAMATICA, Valor: 448,95 €

Computador 110189 29-03-2011 Fornecedor: MEDIAMATICA, Valor: 455,10 €

Fonte de alimentação 15229 26-09-2012 Fornecedor: EFADIL,SA, Valor: 959,40 €

Computador portátil 16829 30-09-2012 Fornecedor: VOBIS INFOFIELD INFORMATICA SA, Valor: 499,00 €

8. Descrição detalhada das actividades desenvolvidas

Nome Descrição

8-Research Activities - detailed description.pdf 8-Research Activities - detailed description.pdf

9. Ficheiros Anexos (opcional)

Nome Ponto do RF Descrição

Anexo-Progress-Technical-Report-ISRP-2011-13 -last - org datas.pdf

9. FicheirosAnexoss

Entrada 9 do formulário electrónico do Relatório Técnico Final doprojecto PEst-OE/EEI/UI0147/2011

PEst 2013- ISRP.pdf 2 PEst 2013- ISR

equipamento.pdf 7. Equipamento Documentos

Incentivo2013-ValoresAprovados.pdf 2 Sustainability objectives - indicator


11 of 11 09/03/2014 23:48

Ficheiro Anexo

Entrada 9 do formulário electrónico do

Relatório Técnico Final do projecto PEst-OE/EEI/UI0147/2011

=============================================== Referência do Projecto: PEst-OE/EEI/UI0147/2011 Investigador Responsável: Fernando Manuel Ferreira Lobo Pereira Instituição Proponente: Faculdade de Engenharia da Universidade do Porto (FE/UP) Data de Início: 01-01-2011 Data de Fim: 31-12-2013 Financiamento Concedido: € 137.222,00 =============================

Index

I – Overview of the Project Technical Developments

II - List of Researchers that joined the research team in the reporting period

III - Scientific and Technical Production

I – Brief overview of the Project Technical Developments

The activities undertaken during the years of 2011, 2012 and 2013 contributed strongly to the ambitious objectives stated clearly in the proposal. These were stated as follows:

(a) Developing scientific and technical concepts, results, methods and tools in the areas of control, systems, computing and optimization targeting not only the growth of the various theoretical bodies but also the support of recently emerging engineering paradigms alluded to in (b).

(b) Addressing the challenges arising in the design, development, control, operation, and management of distributed and/or networked and network centric systems.

The societal challenges requiring emerging systems and control concepts, networked vehicles, sensors and other devices, robotics, automation, communications, etc., encompass climate change, environmental studies, renewable energy systems, electrical transportation systems, water, integrated management of energy and other natural resources, web-of-life studies, etc. The scientific production attests the progress made in the three large fronts, each one led by each one of the research groups CEO, IE and NCCS, and reveals the wide world visibility in several technical niches. It is important to remark that, being the stated objectives relatively open, it is clear that the research issues that are now being addressed evolved positively in maturity, sophistication, and value that fuelled their transition to society, notably pertinent public organizations and industrial companies. This is all the more remarkable by the fact that not only state-of-the-art theoretical advancements took place but also by the fact that many of these concepts were successfully transposed to key challenging applications after the strict scrutiny of sophisticated stakeholders. Of course, the funds made available by this project were too limited to realistically address what has been achieved. In fact, most of the resources – person-power, infra-structure, networking, contributions to a vision and motivation – have been available via complementary research contracts and from the generosity of the researchers. However, the funds available in this project were fundamental to keep together the three groups of people with distinct and complementary know-how and views of the required distinct scientific and technological disciplines. The integration of these three distinct and complementary types of activities undertaken by the three research groups can be observed in two different perspectives:

1. Sharing challenges which not only enlarges the scope of each group efforts and, as a consequence, gives rise to new sources of innovation, but also provides guidance to strategically direct the own specific research towards serving the requirements of the others.

2. Promoting the excellence in each one of the specific areas which is precisely the quality which attracts and is critical for a fruitful cooperation.

These have been the way through which this project capitalized on the synergies among the three groups and provided sustainability in that it helped the success in winning research contracts. Clearly, the successes that we can show now are precisely the reason why we are more motivated than ever to pursue the ongoing research effort in the various topics addressed in the project and give shape to the objectives being pursued in 2014.

II - List of Researchers that joined the Research Team in 2012 and 2013

The entry 2 – “Resumo dos Trabalhos Desenvolvidos e Desvios à Proposta aprovada” - of the Progress Report Application form only enabled to indicate the team members that left in 2011, 2012 and 2013. However, a number of new researchers joined the project research team. Name, FCT public key, fraction of time dedicated to the research unit and starting and departure dates are as follows:

• Ana Catarina Rodrigues da Silva Morais, J60083052vmm, Other, 100%, 01/11/2011

• António Pedro Rodrigues de Aguiar, J041798KN47, Associate Professor, 15%, 01/07/2013

• Daniel Filipe Valente da Silva, J596227mpnwy, Researcher,100%, 02/11/2012

• Hugo Filipe de Oliveira Gomes da Fonseca Queirós, J599245k2wwb, Researcher, 100%, 15/01/2013

• João Filipe Fortuna Araújo, J5305199W740, Researcher, 100%, 03/09/2012

• João Pedro Correia dos Reis, J599082vgtwq, Researcher, 100%, 01/02/2013

• Jorge Manuel Lourenço Neiva, J597128s2twt, Researcher, 100%, 01/02/2012

• Luís Filipe Tiago Paiva, Researcher, 100%, March 2012

• Luiz Manuel Sousa Vieira, J5990932cxns, Researcher, 100%, from 01/02/2012 to 06/10/2013

• Margarida Costa Faria, J597129c0yf5, Researcher, 100%, 01/07/2012

• Maria João Correia Soares da Costa, J618428z2v84, Researcher, 100%, 01/03/2014

• Marina Sofia Félix Oliveira, J599086wa93v, Researcher, 100%, 01/12/2012

• Rui Pedro Ferreira Pinto, J6184315qk0v, Researcher, 100%, 01/12/2013

• Sara Maria da Costa Sousa, J59910754wty, Researcher, 100%, 01/12/2012

• Sergey Zhukowskiy, J59911373vf0 Researcher (posdoc grant Marie Curie, FP7), 100%, May 2012

• Tiago Filipe Carvalho Rodrigues, J6184326rm9s, Researcher,100%,16/09/2013

• Tiago Filipe Teixeira Floriano dos Santos, J618429ayr55, Researcher,100%, 02/09/2013

III - Scientific and Technical Production

A - Publications

A.1 Books (book chapters, and book editions)

Books edition:

1. Translation and edition by Cláudio Monteiro of the book “O mundo e a Energia - Desafios

Geopolíticos, Volume I: As Chaves para a Compreensão”, by Samuele Furfari, Eixo Atlântico, Vigo, 434 pages, 2011.

2. Translation and edition by Cláudio Monteiro of the book “O mundo e a Energia - Desafios Geopolíticos, Volume II: Jogos de Poder”, by Samuele Furfari, Eixo Atlântico, Vigo, 415 pages, 2011.

3. Paulo Lopes dos Santos, T-P Azevedo Perdicoúlis, C. Novara, J. A. Ramos and D. E. Rivera (Eds.), Linear Parameter-varying System Identification, New developments and Trends in Advanced Series in Electrical and Computer Engineering”, Vol. 14. World Scientific, Singapore, 2012, ISBN13 978-981-4355-44-5, 2012, 385 pages

4. J. Borges de Sousa, F. Lobo Pereira, edition of the Proceedings of the workshop NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, April 10-12, Portugal, http://paginas.fe.up.pt/~ngcuv2012/ (Proceedings are published electronically in the IFAC PapersOnLine website.

Book Chapters:

1. Paulo A. S. Pereira, Dalila B.M.M. Fontes, Fernando A.C.C. Fontes. “A Hybrid Genetic Algorithm for Constrained Combinatorial Problems: An Application to Promotion Planning Problems.” In “Operations Research Proceedings 2010”, Springer Verlag, 2011.

2. Luís Roque, Dalila B. M. M. Fontes, Fernando A. C. C. Fontes. “A biased random key genetic algorithm approach for the unit commitment problem”. In Experimental Algorithms. Panos M. Pardalos and Steffen Rebennack editors. Lecture Notes in Computer Science, Volume 6630, pp.327-339, 2011.

3. C. Monteiro, “Introduction to Power Systems”, Chapter I in “ELECTRIC POWER SYSTEMS Advanced Forecasting Techniques and Optimal Generation Scheduling” Ed. Catalão J. P. S., CRC Press, Taylor & Francis, 2011.

4. M. Sousa, P. Portugal, Modbus, Chapter in: “Industrial Electronics Handbook - Industrial Communications Systems”, pp.36-1-36-16, 2011.

5. A. S. Carvalho, M. T. Outeiro, "MatLab/Simulink as accurate design tool of electrical power systems and power electronics", Chapter 4 of the Book “Engineering Education and Research Using MATLAB ", edited by InTech, October 2011, ISBN 978-953-307-656-0, Hardcover, 480 pages.

6. M. Felser, R. Mitchell, P. Portugal, Chapter in: “Profisafe, Industrial Electronics Handbook - Industrial Communications Systems”, pp.46-1-46-15, 2011.

7. Gonçalves, R., Sousa, J., Ferreira, S., Pinto, J., & Gonçalves, G. (2011). Authority sharing in mixed initiative control of multiple uninhabited aerial vehicles, Engineering Psychology and Cognitive Ergonomics, Lecture Notes in Computer Science Volume 6781, 2011, pp 530-539. http://link.springer.com/chapter/10.1007%2F978-3-642-21741-8_56#page-1

8. C. Novara, P. Lopes dos Santos, T-P. Azevedo Perdicoúlis, J. A. Ramos, D. E. Rivera, “Introduction”, Chapter 1, pp 1-9, in “Linear Parameter-varying System Identification, New developments and Trends”, Advanced Series in Electrical and Computer Engineering, Vol. 14. World Scientific, Singapore, ISBN13 978-981-4355-44-5, 2012.

9. P. Lopes dos Santos, T-P. Azevedo Perdicoúlis, J. A. Ramos, J. L. Martins de Carvalho, “Indirect continuous-time system Identification through a downsampled subspace approach”, Chapter 9, pp. 231-258, in “Linear Parameter-varying System Identification, New developments and

Trends”, Advanced Series in Electrical and Computer Engineering, Vol. 14. World Scientific, Singapore, ISBN13 978-981-4355-44-5, 2012.

10. Tiago Nascimento, Hugo Alves, André Gustavo Scolari Conceição, Fernando Fontes and António Paulo Moreira. “A Generic Framework for Multi-Robot Formation Control”, T. Rofer et al. (Eds.): RoboCup 2011, LNCS 7416, Springer-Verlag Berlin Heidelberg, pp. 294–305, 2012.

11. Dalila B.M.M. Fontes, Fernando A.C.C. Fontes and Amélia Caldeira. “Optimal formation switching with collision avoidance and allowing variable agent velocities”. In Dynamics of Information Systems: Mathematical Foundations. Alexey Sorokin, My T. Thai, Panos M. Pardalos editors. Springer Proceedings in Mathematics & Statistics 20, DOI 10.1007/978-1-4614-3906-6 11, pp. 165-179 Springer Science+Business Media New York, 2012.

12. António Martins, José Ferreira, Helder Azevedo, “Active Power Filters for Harmonic Elimination and Power Quality Improvement”. In A. Eberhard (Ed.): Power Quality, InTech, ISBN 978-953-307-180-0, pp. 161-182.

13. Maria Teresa Outeiro, Adriano Carvalho, “Methodology of Designing Power Converters for Fuel Cell Based Systems A Resonant Approach”, Chapter Number X of the book “New Developments in Renewable Energy", ISBN 980-953-307-680-0.

14. M.T. Outeiro, A. S. Carvalho, “Methodology of designing power converters for fuel cell based systems. A resonant approach”, Chapter 14 of the book “New Developments In Renewable Energies ", edited by In Tech, March 2013, ISBN 978-953-51-1040-8.

15. Christian Fuchs, S. Ferreira, J. Borges de Sousa e G. Gonçalves, “Adaptive Consoles for Supervisory Control of Multiple Unmanned Aerial Vehicles”, Human-Computer Interaction. Interaction Modalities and Techniques, Lecture Notes in Computer Science Volume 8007, 2013, pp 678-687. http://link.springer.com/chapter/10.1007%2F978-3-642-39330-3_73

16. J.G. Manathara, P.B. Sujit, D. Ghose and J.B. Sousa: “Decentralized coalition formation with Limited Communication Ranges”, Chapter in Handbook of Unmanned Aerial Vehicles, July 2013.

17. J. Borges de Sousa and F. Lobo Pereira, "Coordination Challenges in Networked Vehicle Systems: Are We Missing Something?" in Coordination Control of Distributed Systems to be published by Springer Verlag in 2014.

18. F. Lobo Pereira, J. Borges de Sousa, R. Gomes and P. Calado, "A Model Predictive Control Approach to AUVs Motion Coordination", in Coordination Control of Distributed Systems to be published by Springer Verlag in 2014.

19. Jorge Estrela da Silva, F. Lobo Pereira and J. Borges de Sousa, "Dynamic Optimization Techniques for the Motion Coordination of Autonomous Vehicles", in Coordination Control of Distributed Systems to be published by Springer Verlag in 2014.

20. J. Borges de Sousa, “O futuro da observação dos oceanos”, em O Mar no Futuro de Portugal, Ciência e Visão Estratégica, FLAD Edition, (to be published in 2014).

A.2 International Journals:

1. A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. The Maximum Principle for Optimal Control

Problems with State Constraints by R.V. Gamkrelidze: Revisited. J. Optim. Theory Appl. (2011) 149: 474-493.

2. A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. R.V. Gamkrelidze's Maximum Principle for Optimal Control Problems with Bounded Phase Coordinates and Its Relation to Other Optimality Conditions. ISSN 10645624, Doklady Mathematics, 2011, Vol. 83, No. 1, pp. 131-135.

3. Peschl, M., Almeida, F., Dias, P., Gonçalves, G. and Hoffmeister, M., "Designing and Implementation of an Intelligent Manufacturing System", Journal of Industrial Engineering and Management, Barcelona, Spain, Vol. 4, No. 4, 2011.

4. A.V. Arutyunov, D.Yu. Karamzin, "Regular zeros of quadratic maps and their application", Mat. Sb., 202:6 (2011), 3-28.

5. Peschl, M., Almeida, F., Dias, P., Gonçalves, G. and Hoffmeister, M., "A proposition of a manufactronic networked approach for intelligent and flexible manufacturing systems", International Journal of Industrial Engineering Computations (IJIEC), Ontario, Canada, Vol. 2, No. 3, 2011.

6. Jorge Estrela da Silva, João Borges de Sousa, A dynamic programming based path-following controller for autonomous vehicles, Control and Intelligent Systems, Vol. 39, No. 4, 2011.

7. P.L. dos Santos, T-P. A. Perdicoúlis, J.A. Ramos, J.L.M.de Carvalho, G. Jank, J. Milhinhos, “An LPV Modeling and Identification Approach to Leakage Detection in High Pressure Natural Gas Transportation Networks”, IEEE Trans.Contr.Syst Tech, Vol.19, No.1, pp.77-92, 2011.

8. J. A. Ramos, A. Alenany, H. Shang, and Paulo J. Lopes dos Santos, “Subspace Algorithms for Identifying Separable in Denominator 2-D Systems with Deterministic Inputs”, IET Control & Theory Applications Vol.5 nº 15, pp.1748-1765, 2011.

9. F. Clarke, Y. Ledyaev, Maria do Rosário de Pinho,”An extension of the Schwarzkopf multiplier rule in optimal control”, SIAM J.Control&Optim, Vol.49 nº2, pp.599-610, 2011.

10. Maria do Rosáriode Pinho, I. Shvartsman, ”Lipschitz continuity of optimal control and Lagrange multipliers in a problem with mixed and pure state constraints”, Discrete and Continuous Dynamical Systems, Series A, Vol.29, nº2, pp. 505-521, 2011.

11. Sofia O. Lopes, F.A.C.C. Fontes, Maria do Rosáriode Pinho. “On Constraint Qualifications for Nondegenerate Necessary Conditions of Optimality Applied to Optimal Control Problems”, Discrete and Continuous Dynamical Systems series A, AIMS, vol. 29, n. 2, 2011.

12. Carlos J. Ramos, António P. Martins, Adriano Carvalho, “Active Filtering of DFIG Stator and Rotor Current Harmonics Caused by Distorted Stator Voltages”, EPE Journal, vol. 21, nº1, Jan-Mar 2011, pp. 43-54.

13. J.G. Manathara, P.B. Sujit and J.B. Sousa: Search strategies for multiple UAV search and destroy missions, Journal of Intelligent and Robotic Systems, Vol. 61, No. 1, Jan 2011, pp. 355-367.

14. A.V. Arutyunov, D.Yu. Karamzin, F.Lobo Pereira. On a generalization of the impulsive control concept: controlling system jumps. Discrete and Continuous Dynamical Systems, Vol. 29, 2, February 2011, pp. 403-415.

15. Yanrui Geng, Richard Deurloo, Luísa Bastos,Hybrid. Derivative-free Extended Kalman Filter for Unknown Lever-arm Estimation in Tightly Coupled DGPS/INS Integration, GPS Solutions. Vol. 15 Issue 2, April 2011.

16. Md. Haider, A. Biswas, Maria do Rosário de Pinho,”A nonsmooth maximum principle for optimal control problems with state and mixed constraints-convex case”, Dyn. Syst. & Diff. Equations, DCDS Issue Special, pp.174-183, September 2011.

17. Paulo Lopes dos Santos, T-P. Azevedo-Perdicoúlis, Gerhard Jank, José A. Ramos and J. L. Martins de Carvalho, “Leakage detection and location in gas pipelines through an LPV identification approach”, Communications in Nonlinear Science and Numerical Simulation, Volume 16 Issue: 12, December 2011, pp 4657-4665.

18. Ignacio J. Ramirez-Rosado, L. Alfredo Fernandez-Jimenez, Claudio Monteiro, Eduardo Garcia-Garrido, Pedro Zorzano-Santamaria, “Spatial long-term forecasting of small power photovoltaic systems expansion”, Renewable Energy, Volume 36, Issue 12, December 2011, Pages 3499-3506

19. P.L. dos Santos, J.A. Ramos, J.M.de Carvalho, “Identification of a Benchmark Wiener-Hammerstein: Bilinear and Hammerstein-Bilinear Models”, Contr. Eng. Practice, vol 20, nº 11, pp. 1156-1164, 2012.

20. Juan M. Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum Residential Load Management Strategy for Real Time Pricing (RTP) Demand Response Programs”, Energy Policy, vol. 1,nº2 (in press to be published in 2012).

21. Juan M. Lujano-Rojas, Cláudio Monteiro, Rodolfo Dufo-López, José L. Bernal-Agustín, “Optimum load management strategy for wind/diesel/battery hybrid power systems”, Renewable Energy, vol. xx, pp. 1-8, 2012. (Prepared in 2011).

22. Arutyunov A.V., Zhukovskiy E.S., Zhukovskiy S.E., Covering mappings and well-posedness of nonlinear Volterra equations. Nonlinear Analysis: Theory, Methods and Applications, 75 (2012), P. 1026 - 1044.

23. A.V. Arutyunov, S. E. Zhukovskiy, Z. T. Mingaleva, Differential Properties of the Minimum Function for Diagonalizable Quadratic Problems. Computational Mathematics and Mathematical Physics, 2012, Vol. 52, No. 10, pp. 1342-1350.

24. S.E. Zhukovskiy, Z.T. Mingaleeva. Existence and continuity of an implicit function in the neighborhood of an abnormal point, Moscow University Computational Mathematics and Cybernetics, 2012, Vol. 36, No. 2, pp. 60-65.

25. R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, Real-Time Industrial Communication over IEEE802.11e Wireless Local Area Networks, IEEE Latin America Transactions, Vol. 10, No. 3, pp. 1844-1849, 2012.

26. Silva, L. Guedes, P. Portugal, F. Vasques, Reliability and Availability Evaluation of Wireless Sensor Networks for Industrial Applications, Sensors, Vol. 12, Issue1, pp. 806-838, 2012.

27. V. Rosset, P. Souto, P. Portugal, F. Vasques, Modeling the reliability of a group membership protocol for dual-scheduled time division multiple access networks, Journal of Computer Standards & Interfaces, Vol.34 nº 3, pp.281-291, 2012.

28. Ivanovitch Silva, Paulo Portugal, Luiz Affonso Guedes, Francisco Vasques, “Reliability and Availability Evaluation of Wireless Sensor Networks for Industrial Applications”, Sensors, Vol.12 nº 1, pp.806-838, 2012.

29. Sujit, P.B; Lucani, Daniel; Sousa, João Borges de, “Bridging Cooperative Sensing and Route Planning of Autonomous Vehicles”, IEEE Journal on Selected Areas in Communications 30, 5: 912-922, 2012.

30. R. Viegas, L. Affonso, F. Vasques, P. Portugal, R. Moraes, “A new MAC scheme specifically suited for real-time industrial communication based on IEEE 802.11e”, Computers and Electrical Engineering, 2012 pp.1684-1704.

31. Sérgio Loureiro Fraga, Fernando Lobo Pereira, Hamilton-Jacobi-Bellman Equation and Feedback Synthesis for Impulsive Control, IEEE Trans on Automatic Control, Vol. 57 (1), Jan 2012, pp. 244-248.

32. Arutyunov, A. V.; Karamzin, D. Yu.; Pereira, F. Pontryagin's maximum principle for constrained impulsive control problems, Nonlinear Analysis-Theory, Methods & Applications Vol: 75 No: 3 Pp: 1045-1057 Feb 2012.

33. Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. Inverse Function in the Neighborhood of an Abnormal Point of a Smooth Map, Doklady Mathematics, Vol: 85 No: 3 May 2012 Pp: 305-308.

34. Avakov, E. R.; Arutyunov, A. V.; Karamzin, D. Yu. On Second-Order Necessary Optimality Conditions in Finite-Dimensional Abnormal Optimization Problems, Doklady Mathematics, Vol: 85 No: 3 May 2012, Pp: 328-330.

35. E.Y. Braverman, S.E. Zhukovskiy. Absolute and delay-dependent stability of equations with a distributed delay. Discrete and Continuous Dynamical Systems, V. 32, N. 6, June 2012, P. 2041 - 2061.

36. Fernando A. Auat Cheein; Fernando M. Lobo Pereira; Fernando Di Sciascio; Ricardo Carelli, Autonomous Simultaneous Localization and Mapping driven by Monte Carlo uncertainty maps-based navigation Knowledge Engineering Review, vol 28(1) 2013, pp.35-57 (published on-line in Nov 2012).

37. Marta S.R. Monteiro, Dalila B.M.M. Fontes, Fernando A.C.C. Fontes “Concave Minimum Cost Network Flow Problems Solved with a Colony of Ants”, Journal of Heuristics, pp.-, 2013 (In press. Available on-line from November 2012 http://link.springer.com/article/10.1007/s10732-012-9214-6).

38. Sofia O. Lopes, F. A.C.C. Fontes. “Normal forms of necessary conditions for dynamic optimization problems with pathwise inequality constraints”. Journal of Mathematical Analysis and Applications, Vol.399 nº 1, pp.27-37, 2013.

39. Sofia Lopes, Fernando Fontes, Maria Do Rosário De Pinho, “An Integral-type Constraint Qualification to Guarantee Nondegeneracy of the Maximum Principle for Optimal Control Problems with State Constraints”, Systems & Control Letters, Elsevier , Vol.62, 2013, pp.686-692.

40. T-P Azevedo Perdicoúlis, G. Jank, P. Lopes dos Santos, “Boundary Control of Discrete Repetitive Processes with Smoothing: controllability, observability and disturbance attenuation”, Multidimensional Systems and Signal Processing, Springer, 2013, pp.1-14.

41. Luís A.C. Roque, Dalila B.M.M. Fontes, Fernando A.C.C. Fontes. An Improved Biased Random Key Genetic Algorithm Approach to the Unit Commitment Problem. Submitted in 2013.

42. J.E. Paiva, A.S. Carvalho, “Controllable hybrid power system based on renewable energy sources for modern electrical grids”, Renewable Energy Vol 53 (2013) 271-279.

43. Claudio Monteiro, Tiago Santos, L. Alfredo Fernandez-Jimenez, Ignacio J. Ramirez-Rosado, M. Sonia Terreros-Olarte, “Short-Term Power Forecasting Model for Photovoltaic Plants Based on Historical Similarity”, Energies 2013, 6(5), 2624-2643.

44. C. Monteiro, I. Rosado, L. Jimenez, “Short-term forecasting model for electric power production of small-hydro power plants”, Renewable Energy, vol. 50, 2013, pp.387-394.

45. D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Energy-Efficient Packet Relaying in Wireless Image Sensor Networks Exploiting the Sensing Relevancies of Source Nodes and DWT Coding”, Journal of Sensor and Actuator Networks, pp.424-448, 2013.

46. D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Adaptive monitoring relevance in camera networks for critical surveillance applications”, International Journal of Distributed Sensor Networks, 2013.

47. D. Costa, L. Guedes, Francisco Vasques, Paulo Portugal, “Redundancy-based semi-reliable packet transmission in wireless visual sensor networks exploiting the sensing relevancies of source nodes”, WSEAS Transactions on Communications, pp.468-478, 2013.

48. P.B. Sujit and Srikanth Saripalli: An empirical evaluation of co-ordination strategies for an AUV and UAV, Journal of Intelligent & Robotic Systems, Volume 69, Issue 1-4, pp 373-384, 2013.

49. P.B. Sujit, S. Saripalli and B. Hudzietz: Route planning for angle constrained terrain mapping using an unmanned aerial vehicle, Journal of Intelligent and Robotics Systems, Vol. 69, 2013, pp. 276–263.

50. P.B. Sujit and S. Saripalli: An empirical evaluation of co-ordination strategies for an AUV and UAV, Journal of Intelligent and Robotics Systems, Vol. 70, 2013, pp. 373–384.

51. F Lobo Pereira, FA Fontes, MM Ferreira, MR Pinho, VA Oliveira, E Costa, GN Silva, “An Optimal Control Framework for Resources Management in Agriculture”, J. Conference Papers in Mathematics, Hindawi Publishing Corporation, Vol 2013 (2013), Article ID 769598, 15 pages.

52. T. Grilo, F. Lobo Pereira, S. Gama, “Optimal Control of Particle Advection in Couette and Poiseuille Flows”, J. Conference Papers in Mathematics, Hindawi Publishing Corporation, vol. 2013.

53. A. V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “On Coincidence Points of Mappings in Partially Ordered Spaces”, Doklady Mathematics, Vol. 88, No. 3, 2013 pp. 710–713

54. A. V. Arutyunov, S. E. Zhukovskiy, N. G. Pavlova, “Equilibrium price as a coincidence point of two mappings”, Computational Mathematics and Mathematical Physics, vol. 53, no 2, Feb 2013, pp 158-169.

55. Ricardo Bencatel, João Sousa, and Anouck R. Girard, “Atmospheric Flow Field Models Applicable for Aircraft Endurance Extension”, Journal of Progress in Aerospace Sciences, Elsevier, vol. 61, July 2013, pp. 1-25.

56. Krishnendu Chatterjee, Vinayak S. Prabhu, “Synthesis of memory-efficient, clock-memory free, and non-Zeno safety controllers for timed systems”, Journal of Information and Computation, July 2013, vol. 228-229, pp. 83-119.

57. Ionela Prodan, Sorin Olaru, Ricardo Bencatel, João B. Sousa, Cristina Stoica, Silviu-lulian Niculescu, “Receding horizon flight control for trajectory tracking of autonomous aerial vehicles”, Journal of Control Engineering Practice, Elsevier, vol. 21, n. 10, Oct 2013, pp. 1334—1349.

58. A. V. Arutyunov, E. S. Zhukovskiy, S. E. Zhukovskiy, “Coincidence points of set-valued mappings in partially ordered spaces”, Doklady Mathematics, Vol 88, No. 3, Nov 2013, pp 727-729.

59. P.B. Sujit, Srikanth Saripalli, J. Borges de Sousa, “UAV Path Following: A survey and analysis of algorithms for fixed wing UAVs”, IEEE Control Systems Magazine, Feb. 2014, accepted for publication in 2013.

60. M.H. A. Biswas, L.T. Paiva, and Maria do Rosáriode Pinho, A seir model for control of infectious diseases with constraints”, Mathematical Biosciences and Engineering, AIMS, accepted for publication in 2013.

61. M. M. A. Ferreira, A. F. Ribeiro, G.V. Smirnov, “Local minima of quadratic functionals and control of hydro-electric power stations”, Journal of Optimization Theory and Applications, Springer , submitted in 2013.

62. M.H. A. Biswas and Maria do Rosáriode Pinho. A maximum principle for optimal control problems with state and mixed constraints. Submitted in 2013.

63. M. d. R. de Pinho and I. Kornienko. Differential inclusion approach for mixed constrained problems revisited. Submitted in 2013.

64. Tu Dac Ho, Esten Ingar Grøtli, P. B. Sujit, Tor Arne Johansen, J.Borges Sousa, “Path Planning for a UAV Data Mule and Wireless Sensor Network”, Journal of Intelligent and Robotic Systems,, submitted for publication in 2013.

International Journal Editorials - These items are scientifically relevant and were included in journal

publications in the table “Indicadores”

1. Maria do Rosário de Pinho, F.A.C.C. Fontes, D. F. M. Torres, invited editors of the Special section “Nonsmooth Analysis, Control and Optimization”, European Journal of Control, Volume 17, No. 1, 2011.

2. Maria do Rosário de Pinho, M. M.A. Ferreira, F.A.C.C. Fontes, F. L. Pereira, G. Smirnov, D. F. M. Torres, editores convidados. Special Issue of the Discrete and Continuous Dynamical Systems - Series A, in celebration of the 60th birthday of Francis Clarke and Richard Vinter. Discrete and Continuous Dynamical Systems - Series A, vol. 29, n. 2, 2011.

3. G.N. Silva, Maria do Rosário de Pinho, M. A. Teixeira, M. Messias, E. Macau, “Nonlinear Systems: Asymptotic Methods, Stability, Chaos, Control, and Optimization”, Mathematical Problems in Engineering, Vol. 2011 (2011), Article ID 498751, 4 pages, doi:10.1155/2011/498751.

4. Marco Lovera, Carlo Novara, Paulo Lopes dos Santos, Daniel Rivera, “Guest Editorial Special Issue on Applied LPV Modeling and Identification”, IEEE Transactions on Control Systems Technology, Vol. 19, No. 1, January 2011, pp 1-4.

A.3 National journals

1. D.Yu. Karamzin. On the study of quadratic maps in R2. Moscow, Journal of Theoretical and

Applied Problems of Nonlinear Analysis”, CCAS edition, 2011, pp. 40-46. 2. T. Grilo, F. Lobo Pereira, S. Gama, “Controlo óptimo de sistemas dinâmicos impulsionados por

escoamentos de Couette”, Boletim da Sociedade Portuguesa de Matemática, vol. 67, October 2012, pp. 1-4.

3. S.E. Zhukovskiy, on the covering properties of restrictions of mappings acting in metric spaces. Tambov University Reports. Series: Natural and Technical Sciences, 2012, T.17, V.3, P. 852 - 856

4. D.Yu. Karamzin. To the study of correctness in the impulsive control systems. “Theoretical and applied problems of Nonlinear Analysis”, Computing Centre of RAS edition, 2013.

5. T. Grilo, F. Lobo Pereira, S. Gama, "Controlo óptimo de sistemas dinâmicos impulsionados por escoamentos de Couette", Boletim da SPM, Actas do Encontro Nacional da SPM, Faro, July, 2012, invited editor: Ana Luísa Custódio, 2013, pp. 149-152.

6. D.Yu. Karamzin, F.L. Pereira. Existence theorems in optimal impulsive control problems. Bull of the Tambov State University of Russia, V. 18, n. 1, 2013, pp. 55-59.

7. D.Yu. Karamzin, F.L. Pereira. On some extensions of optimal control theory. Bull of the Tambov State University of Russia, V. 18, n. 5, 2013, pp. 25-47.

8. D.Yu. Karamzin. To the study of correctness in the impulsive control systems. In the book «Theoretical and applied problems of Nonlinear Analysis», Computing Centre of RAS edition, 2013.

9. T. Grilo, F. Lobo Pereira, S. Gama, "Controlo óptimo de sistemas dinâmicos impulsionados por escoamentos de Couette", Boletim da Sociedade Portuguesa de Matemática, vol. 68, pp. 149-152, 2013.

National Journal Editorials - These items are scientifically relevant and were included in national

publications in the table “Indicadores”

1. Claudio Monteiro, Coordination of the “Renováveis Magazine” (www.renovaveismagazine.pt) Renováveis Magazine Nº 5: Theme on “Solar Térmico”

2. Claudio Monteiro, Coordination of the “Renováveis Magazine” (www.renovaveismagazine.pt) Renováveis Magazine Nº 6: Theme on “Solar Fotovoltaico”,

3. Claudio Monteiro, Coordination of the “Renováveis Magazine” (www.renovaveismagazine.pt) Renováveis Magazine Nº 7: Theme on “Mini-geração”,

4. Claudio Monteiro, Coordination of the “Renováveis Magazine” (www.renovaveismagazine.pt) Renováveis Magazine Nº 8: Theme on “Serviços energéticos integrando renováveis”,

B – Communications

B.1 International scientific meetings (with peer-reviewed, indexed, published articles)

1. Yanrui Geng, R. Deurloo, L. Bastos. A Method for Automatic Lever-arm Estimation in Loosely-

couple, GNSS/INS Integration. ION ITM Conf., January 24-26, 2011, San Diego, USA. 2. Yanrui Geng, R. Deurloo, L. Bastos. A Low-Cost MEMS IMU/DVL/Pressure Sensor Integrated

Navigation System for Autonomous Underwater Vehicle. ION ITM Conference, January 24-26, 2011, San Diego, USA.

3. Merani, Diego; Potter, John; Berni, Alessandro; Martins, Ricardo, "An Underwater Convergence Layer for Disruption Tolerant Networking", Baltic Congress Future Internet Comms (BCFIC 2011), February 16-18, 2011.

1. Luís Roque, Dalila B. M. M. Fontes, Fernando A. C. C. Fontes. A Biased Random Key Genetic Algorithm approach for Unit Commitment Problem. International Symposium on Experimental Algorithms, Crete, Greece, April 2011.

2. Emanuel P. Meireles, António P. Martins, “Control of Cascaded H-Bridge Inverters Using an FPGA-Based Platform”. In Proceedings of the 3

rd International Conference on Power

Engineering, Energy and Electrical Drives, POWERENG’11, May 11-13, 2011, Malaga, Spain. 3. Cláudio Monteiro, “Previsión de producción éolienne”- Seminário sobre “Développement par le

secteur privé de l’électricité éolienne connectée au réseau en Tunisie”, Organized bby ANME, Tunis, June 2011.

4. Martins, Ricardo; Sousa, João Borges de; Afonso, Carlos Carvalho, Incze, Michael, "REP10 AUV: shallow water operations with heterogeneous autonomous vehicles", OCEANS, IEEE-Spain, Santander, Spain, June 6-9 2011.

5. Calado, P.; Sousa, J.; "Leader-follower control of underwater vehicles over acoustic communications", OCEANS IEEE-Spain, Santander, June 6-9 2011.

6. Calado, Pedro; Gomes, Ricardo; Nogueira, Marcelo; Cardoso, Joana; Teixeira, Pedro; Sujit, P B; Sousa, J B, "Obstacle Avoidance Using Echo Sounder Sonar", OCEANS IEEE - Spain, Santander, Spain, June 6-9 2011.

7. F. Yekeh, M. Pordel, L. Almeida, M. Behnam, P. Portugal, Scaling FTT-SE to large networks, Proceedings 6th IEEE International Symposium on Industrial Embedded Systems, SIES'11, Västeras, Sweden, June 15-17, 2011.

8. A. S. Carvalho, M. T. Outeiro, “Design and Validation of a new DC-DC Converter to optimize the efficiency of PEM Fuel Cells, III Iberian Symposium on Hydrogen, Fuel Cells and Advanced Batteries. Zaragoza, June 27-30 2011.

9. M. T. Outeiro, A. S. Carvalho, “MatLab/Simulink as design tool of PEM Fuel Cells as electrical generation systems, European Fuel Cell Forum 2011, Lucerne, Switzerland June 28 - July 1, 2011.

10. Gonçalves, R., J. Sousa, A. S. Ferreira, J. Pinto, and G. Gonçalves, "Authority Sharing in Mixed Initiative Control of Multiple Uninhabited Aerial Vehicles", HCI International 2011, Orlando, Florida, USA, July 2011.

11. Tiago Nascimento, Hugo Alves, André Gustavo Scolari Conceição, Fernando Fontes, António Paulo Moreira. A Generic Framework for Multi-Robot Formation Control.RoboCup International Symposium 2011. İstanbul, Turkey, July 5-11, 2011.

12. Marta S. R. Monteiro, Dalila Fontes, Fernando A. C. C. Fontes. “An Ant Colony Optimization Algorithm to Solve the Minimum Cost Network Flow Problem with Concave Cost Functions”, GECCO'11, Dublin, Ireland, July 12-16 2011.

13. F. Lobo Pereira, J. Borges de Sousa, R. Gomes, P. Calado, MPC based coordinated control of Autonomous Underwater Vehicles, ICIAM, Vancouver, July 18-22, 2011.

14. D.Yu. Karamzin, F.L. Pereira. Generalized Impulsive Controls in Engineering Applications, Optimization-2011, Costa da Caparica, Portugal, July 24-27, 2011, p. 69.

15. Tiago Pereira do Nascimento, Fernando A. Fontes, António Paulo Moreira, André Gustavo Scolari Conceição. Leader Following Formation Control for Omnidirectional Mobile Robots: The Target Chasing Problem. 8th International Conference on Informatics in Control, Automation and Robotics - ICINCO 2011, Noordwijkerhout, Netherlands, July 28 - 31, 2011.

16. Ratnoo, P.B. Sujit, and M. Kothari: Adaptive optimal UAV path following for high wind flights, Proceedings IFAC World Congress, Milan, Italy, August 2011.

17. F. Lobo Pereira, G. Silva. A Maximum Principle for Constrained Infinite Horizon Dynamic Control Systems, Proceedings IFAC World Congress, Milan, Italy, August 2011.

18. R. Bencatel, A. Girard, M. Faied, and J. Sousa: Shear wind estimator, Proceedings 2011 AIAA Guidance, Navigation, and Control Conference and Exhibit, Portland, Oregon, USA, August 8-11 2011.

19. A.V. Arutyunov, D.Yu. Karamzin, F.L. Pereira. Pontryagin's Maximum Principle for Impulsive Control Problems. 8th International ISAAC Congress, Moscow, August 22-27, 2011, p. 387.

20. A.V. Arutyunov, D.Yu. Karamzin, F.L. Pereira. The Maximum Principle for Optimal Control Problems with State Constraints by R.V. Gamkrelidze. 8th International ISAAC Congress, Moscow, August 22-27, 2011, p. 376.

21. Marta S. R. Monteiro, Dalila Fontes, Fernando A. C. C. Fontes. An Ant Colony Optimization Approach for Minimum Spanning Tree Problems in Nonlinear Costs Network Flows. International Conference on Operations Research - OR2011, Zurich, Switzerland, August 30 - September 2, 2011.

22. Emanuel P. Meireles, António P. Martins, “PWM-Based Control of a Cascaded Three-Phase Multilevel Inverter”. In Proceedings of the 14th European Conference on Power Electronics and Applications, EPE’11, 30 August 1 – September, 2011, Birmingham, United Kingdom.

23. Jorge Estrela da Silva, João Borges de Sousa, Dynamic Programming Techniques for Feedback Control, Proceedings IFAC18th World Congress, Milano, Italy, August 28 - September 2, 2011.

24. P.B. Sujit, A.J. Healey and J.B. Sousa: AUV docking on a moving submarine using a K-R navigation function, Proceedings IEEE/RJS International Conference Intelligent Robots and Systems, San Francisco, CA, September 2011, pp. 3154 - 3159.

25. Jorge Estrela da Silva, João Borges de Sousa, On the numerical synthesis of optimal feedback controllers, 5th International Conference Physics and Control, Leon, Spain, September 5-8, 2011.

26. Silva, L. Afonso, P. Portugal, F. Vasques, Preliminary results on the assessment of Wireless HART networks in transient fault scenarios, Proceedings 16th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'2011, Toulouse, France, September 5-9, 2011.

27. F. Lobo Pereira, G. Silva. Necessary Conditions of Optimality for Constrained Infinite Horizon Differential Inclusions, 5th International Conference Physics and Control, Leon, Spain, 5-8 September, 2011.

28. Sofia O. Lopes, Fernando A. C. C. Fontes, Maria do Rosário de Pinho. On the Relation Between Inward Pointing Velocity Condition. ICNAAM, Halkidiki, Greece, September 21 2011.

29. M.A. Goodrich, P.B. Sujit, B. Pendleton and J. Pinto: Toward human interaction with bio-inspired robot teams, "Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics", Anchorage, Alaska, October 2011.

30. R. Costa, P. Portugal, F. Vasques, R. Moraes, R. Custódio, A Coordination Layer to Handle Real-Time Communication in Wi-Fi Networks with Uncontrolled Traffic Sources, Proceedings 36th IEEE Conf on Local Computer Networks, LCN'2011, Bonn, Germany, October 4-7, 2011.

31. M. Behnam, Z. Iqbal, P. Silva, R. Marau, L. Almeida, P. Portugal, Engineering and Analyzing Multi-Switch Networks with Single Point of Control, Proceedings 1st International Workshop on Worst-case Traversal Time (WCTT), Vienna, Austria, on November 29, 2011.

32. Sofia O. Lopes, Fernando A. C. C. Fontes, Rui M. S. Pereira, Gaspar J. Machado. Irrigation Planning in the context of Climate Change. International Conference on Mathematical Models for Engineering Science (MMES '11), Tenerife, December 10-12, 2011.

33. P. Lopes dos Santos, T-P Azevedo-Perdicoúlis, J. A. Ramos, G. Jankz, J. L. Martins de Carvalho, “Indirect Continuous-time System Identification—A subspace downsampling approach”, Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, pp 6463- 6468, Orlando, USA, December 12-15, 2011.

34. J. A. Ramos, P. Lopes dos Santos “Subspace System Identification of Separable-in-Denominator 2-D Stochastic Systems”, Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, pp 1491-1496, Orlando, USA, December 12-15, 2011.

35. J. A. Ramos, A. Alenany, H. Shang, P. Lopes dos Santos, “A Subspace Algorithm for Identifying 2-D CRSD Systems with Deterministic Inputs” Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, pp 6457-6462, Orlando, USA, December 12-15, 2011.

36. R. Bencatel, M. Faied, J. Sousa, and A. Girard: Formation control with collision avoidance: Proceedings 50th IEEE Conf on Decision and Control/ European Control Conf, Orlando, Florida, USA, December 12-15, 2011.

37. F. Lobo Pereira, G. Silva. Necessary Conditions of Optimality for State Constrained Infinite Horizon Differential Inclusions. Proceedings 50th IEEE Conf on Decision and Control/ European Control Conference Orlando, Florida, USA, December 12-15, 2011.

38. Cláudio Monteiro, “Energy-efficient Technology List (EETL) toll and mechanism for ESCO business”, Conference ESCO Europe, Lisbon, 2011.

39. M.A. Goodrich, P.B. Sujit, B. Pendleton, J. Crandall, and J. Pinto: Toward Bio-Inspired Human-Robot Interaction, International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS 2011), Taipei, Taiwan, 2011.

40. D.Yu. Karamzin, F.L. Pereira. On Optimal Fuel Consumption in Spacecraft Maneuvering. Computer Algebra, Systems in Teaching and Research. Mathematical Models in Physics, Civil Engineering, Economics and Finance. University of Natural Sciences and Humanities, Siedlce, Poland. 2011, pp. 79-90.

41. Mário de Sousa, Luís Silva, Ricardo Marau, Luís Almeida, in "A Real-Time Resource Manager for Linux-based Distributed Systems", Proceedings WIP Session, 32nd IEEE Real-Time Systems Symposium (RTSS'2011), pp.13-16, 2011.

42. Jorge Estrela Da Silva; João Borges De Sousa; Fernando Lobo Pereira, Dynamic programming based feedback control for systems with switching costs, Proceedings of the IEEE International Conference on Control Applications. 2012 pp. 634-639.

43. D. Costa, L. Guedes Affonso, F. Vasques, P. Portugal, A Routing Mechanism Based on the Sensing Relevancies of Source Nodes for Time-Critical Applications in Visual Sensor Networks, IEEE Wireless Days, Dublin, Ireland, 2012.

44. Krishnendu Chatterjee, Thomas A. Henzinger, and Vinayak S. Prabhu, “Finite automata with time-delay blocks”, Proceedings of The International Conference on Embedded Software, 2012 (EMSOFT), ACM 2012, Pages 43-52.

45. Luís Roque, Dalila B. M. M. Fontes, Fernando A. C. C. Fontes. “BRKGA Adapted To Multiobjective Unit Commitment”, ICORES 2012, Algarve, February, 2012.

46. G.J. Osório, H.M.I. Pousinho, J.C.O. Matias, Cláudio Monteiro and João P. S. Catalão, “Hybrid Evolutionary Neuro-fuzzy Computational Tool to Forecast Wind Power and Electricity Prices”, Conference DoCEIS'12, Lisbon, February 24-26 , 2012.

47. António P. Martins and Domingos M. Carvalho, Analysis and Energetic Characterization of Low-Power Grid-Connected Photovoltaic Systems”, International Conference on Renewable Energies and Power Quality (ICREPQ’12), Santiago de Compostela (Spain), March 28-30, 2012.

48. João C. Faria and António P. Martins, “Analysis and Characterization of a Square-Wave Modulation Method for Single-Phase Cascaded H-Bridge Multilevel Inverters”, International Conference on Renewable Energies and Power Quality (ICREPQ’12), Santiago de Compostela (Spain), March 28-30, 2012.

49. António P. Martins and António M. Cardoso, “Input Current Distortion and Output Voltage Regulation of the Boost PFC Converter Operating with Different Control Methods”, International Conference on Renewable Energies and Power Quality (ICREPQ’12), Santiago de Compostela (Spain), March 28-30, 2012.

50. Pinto, José; Calado, Pedro, Braga, José; Dias, Paulo; Martins, Ricardo; Marques, Eduardo, “Implementation of a Control Architecture for Networked Vehicle Systems”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

51. Braga, José; Healey, Anthony J.; Sousa, João Borges de, “Navigation Scheme for the LSTS SEACON Vehicles: Theory and Application”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

52. Kothari, Mangal; Pinto, José; Prabhu, Vinayak; Calado, Pedro, Sousa, João Borges de; Sujit, P. B., “Robust Mission Planning for Underwater Applications: Issues and Challenges”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

53. Silva, Jorge Estrela da; Lucani, Daniel; Sujit, P.B.; Sousa, João Borges de, “Trajectory optimization for data retrieval applications: it is all about where/who loads the mule”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

54. Silva, Jorge Estrela da; Sousa, João Borges de; Pereira, Fernando Lobo, “Experimental results with value function based control of an AUV”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

55. Braga, José; Calado, Pedro; Sujit P.B.; Sousa, João Borges de, “Fault Tolerant Area Coverage Using Underwater Vehicles”, Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 10-12, 2012.

56. A.V. Arutyunov, S.E. Zhukovskiy, Covering mappings and their application to the theory of differential equations. Proceedings of the conference “Differential Equations and Optimal Control”, dedicated to the 90th anniversary of academician EF Mishchenko, Moscow, April 16-17, 2012, P. 15 – 16.

57. International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

58. D. Costa, A. Guedes, F. Vasques, P. Portugal, Energy-Efficient Packet Relaying Based on the Sensing Relevancies of Source Nodes in Visual Sensor Networks, Proceedings of the 9th IEEE, May 21-24, 2012.

59. R. Costa, P. Portugal, R. Moraes, F. Vasques, An Admission Control Mechanism to Handle Real-Time Traffic in IEEE 802.11 Networks in Open Communication Environments, Proceedings of the 9th IEEE International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

60. C. Viegas, F. Vasques, S. Sampaio, P. Portugal, P. F. Souto, Assessment of the Interference Caused by Uncontrolled Traffic Sources upon Real-Time Communication in IEEE 802.11-based Mesh Networks, Proceedings of the 9th IEEE International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

61. R. Marau, M. Behnam, Z. Iqbal, P. Silva, L. Almeida, P. Portugal, Controlling Multi-Switch Networks for Prompt Reconfiguration, Proceedings of the 9th IEEE International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

62. R. Lange, F. Vasques, P. Portugal, R. Oliveira, Guaranteeing Real-Time Message Deadlines In The FlexRay Static Segment Using an On-line Scheduling Approach, Proceedings of the 9th IEEE International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

63. O. Valle, A. Milack, C. Montez, P. Portugal,F. Vasques, Experimental Evaluation of Multiple Retransmission Schemes in IEEE 802.15.4Wireless Sensor Networks, Proceedings of the 9th IEEE International Workshop on Factory Communication Systems, WFCS’12, Lemgo/Detmold, Germany, May 21-24, 2012.

64. P.B. Sujit and J.B. Sousa: Multi-UAV task allocation with communication faults, Proceedings of the American Control Conference, Montreal, Canada, June 2012.

65. Gonçalves, G., "Tales from the front – how knowledge becomes innovation", eChallenges 2012, Lisbon, June 2012.

66. Sujit, P.B; Sousa, João Borges de, “Multi-UAV task allocation with communication faults”, American Control Conference, Montreal, Canada, June 27-29, 2012.

67. Kornienko, M. Gerdts, and Maria do Rosário de Pinho, New version of necessary conditions for optimal control problems with differential algebraic equations, Proceedings of MTNS 2012, Melbourne, Australia, July 2012 (full paper, 8 pages).

68. Silva, Jorge Estrela da; Sousa, João Borges de; Pereira, Fernando Lobo, “Trajectory constraints for robust vehicle formation control”, 10th Portuguese Conference on Automatic Control (CONTROLO’12), Funchal, Portugal, July 2012.

69. F. Lobo Pereira, Geraldo Silva, “Necessary optimality conditions for optimal control problems with infinite horizon”, MTNS 2012, 20

th International Symposium on Mathematical Theory of

Network of Systems, Melbourne, Australia, July 9-13, 2012. 70. Pereira, Fernando Sousa, João Gomes, Rui Calado, Pedro “Reach set formulation of a model

predictive control scheme”, MTNS 2012, 20th

International Symposium on Mathematical Theory of Network of Systems, Melbourne, Australia, July 9-13, 2012.

71. J. A. Ramos, P. Lopes dos Santos, “Parametric Modeling in Estimating Abnormal Intra-QRS Potentials in Signal-Averaged Electrocardiograms: A Subspace Identification Approach ”, Preprints of the 16th IFAC Symposium on System Identification, pp 565-570, Brussels, Belgium. July 11-13, 2012.

72. P. Lopes dos Santos, P., J. A. Ramos, T-P Azevedo-Perdicoúlis, J. L. Martins de Carvalho, “Identification of LPV Systems with non-white noise scheduling sequences”, Preprints of the 16th IFAC Symposium on System Identification, pp 1755- 1760, Brussels, Belgium. July 11-13, 2012.

73. Fernando A.C.C. Fontes Dalila B.M.M. Fontes, Amelia C.D. Caldeira. Obstacle avoidance in optimal switching of a formation geometry. CONTROLO 2012, Funchal, July 16-18, 2012.

74. D. Costa, L. Guedes, F. Vasques, P. Portugal, Effect of Frame Size on Energy Consumption in Wireless Image Sensor Networks, Proceedings of the 9th IEEE International Conference on Imaging Systems and Techniques (IST-2012), Manchester, UK, July 16-17, 2012.

75. A.V. Arutyunov, D.Yu. Karamzin, F.L. Pereira, “The R.V. Gamkrelidze's maximum principle for state constrained optimal control problem: Revisited” 21st International Symposium on Mathematical Programming, August 19-24, 2012, Berlin, Germany, p. 154.

76. A.V. Arutyunov, D.Yu. Karamzin, F.L. Pereira, “Existence theorems and Pontryagin's Maximum Principle for impulsive control problems” 21st International Symposium on Mathematical Programming, August 19-24, 2012, Berlin, Germany, p. 141.

77. Fernando A. C. C. Fontes, Fernando L. Pereira. Model Predictive Control of Impulsive Dynamical Systems. NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Noordwijkerhout, the Netherlands, Aug 23-27, 2012.

78. O. Valle, C. Montez, P. Portugal, F. Vasques, D. Costa, Expansion of the available Use Classes in IEEE 802.15.4 Networks for usage in the industrial environment, Proceedings of the 9th International Symposium on Wireless Communication Systems (WCS-12), Paris, France, August 28-31, 2012.

79. D. Costa, L. Guedes, F. Vasques, P. Portugal, O. Valle, A Semi-Reliable Energy-Efficient Retransmission Mechanism based on the Sensing Relevancies of Source Nodes for Wireless Image Sensor Networks, Proceedings of the 9th International Symposium on Wireless Communication Systems (WCS-12), Paris, France, August 28-31, 2012.

80. I.Silva, L. Affonso Guedes, P. Portugal, F, Vasques, Dependability Evaluation of WirelessHART Best Practices, Proceedings of the 17th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'2012, Kraków, Poland, September 17-21, 2012.

81. R. Costa, P. Portugal, F. Vasques,R. Moraes, Comparing RT-WiFi and HCCA proposals to Handle Real-Time Traffic in Open Communication Environments, Proceedings of the 17th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'2012, Kraków, Poland, September 17-21, 2012.

82. G. Budke, C. Montez, R. Moraes, P. Portugal, A Dynamic Communication Approach for Data Fusion in IEEE 802.15.4 Wireless Sensor Networks, Proceedings of the 17th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'2012, Kraków, Poland, September 17-21, 2012.

83. Sousa, João Borges de; Martins, Ricardo, “Control architecture and software tool set for networked operations of ocean vehicles”, 9th IFAC Conference on Maneuvering and Control of Marine Craft (MCMC 2012), Arenzano, Italy, September 19-21, 2012.

84. Silva, Jorge Estrela da; Sousa, João Borges de; Pereira, Fernando Lobo, “Dynamic programming based feedback control for systems with switching costs”, IEEE Multi-Conference on Systems and Control 634 - 639, Dubrovnik, Croatia, October 3-5, 2012.

85. Dias, Hugo; Calado, Pedro; Bencatel, Ricardo; Gomes, Ricardo; Ferreira, Sérgio; Sousa, João, “Operations with multiple unmanned systems”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 3043-3044, Vilamoura, Portugal, October 7-12, 2012.

86. D. Costa, L. Guedes, F. Vasques, P. Portugal, O. Valle, QoV: Assessing the Monitoring Quality in Visual Sensor Networks, Proceedings of the 8th IEEE International Conference on Wireless and Mobile Computing, Networking and Communications (WiMob 2012), Barcelona, Spain, October 8-10, 2012.

87. Abilio Azenha, Luís Peneda, Adriano Carvalho, “A Neural Network Approach for Radio Frequency Based Indoors Localization”, IEEE IES IECON 2012, 25 - 28 October 2012, ÉTS, Montréal, Canada.

88. Adriano Carvalho, Maria Teresa Outeiro, “Accurate Matlab/Simulink model of a Power Generation System Based on Fuel Cells”, IEEE IES IECON 2012, October 25-28, 2012, ÉTS, Montréal, Canada.

89. Md. Haider Ali Biswas, Maria do Rosáriode Pinho, A variant of nonsmooth maximum principle for state constrained problems, CDC 2012, Hawaii, USA, December 2012.

90. Fernando A. C. C. Fontes, D. B. M. M. Fontes, L.A. Roque. An Optimal Control Approach to the Unit Commitment Problem. CDC 2012, Maui, Hawaii, December 2012.

91. A.V. Arutyunov, D.Yu. Karamzin, F.L. Pereira, “On the extension of classical calculus of variations and optimal control to problems with discontinuous trajectories”, 51st IEEE Conference on Decision and Control, Maui, Hawaii, December 10-13, 2012, pp. 6406-6411.

92. V.A. Oliveira, G.N. Silva, F.L. Pereira, “A New Sufficient Condition for Optimal Impulsive Control Problems”, 51st IEEE Conference on Decision and Control, Maui, Hawaii, December 10-13, 2012, pp. 6418-6423.

93. Mário de Sousa, “Data-Type Checking of IEC61131-3 ST and IL Applications”, in 17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 12), 2012.

94. S. O. Lopes, F. A. C. C. Fontes, M. F. P. Costa, R. M. S. Pereira, A. M. Gonçalves, and G. J. Machado. Irrigation planning: Replaning and numerical solution. In AIP Conference Proceedings 1558 (ICNAAM 2013), pages 626–629, 2013.

95. L. A. Roque, F. A. C. C. Fontes, and D. B.M.M. Fontes. Recent results on approximate optimization methods for the unit commitment problem. In Proceedings of the 7th International Conference on Energy Planning, Energy Saving, Environmental Education, 2013.

96. S. O. Lopes, F. A. C. C. Fontes, R. M. S. Pereira, A. M. Gonçalves, G. J. Machado. Irrigation planning: An optimal control approach. In AIP Conference Proceedings 1558 (ICNAAM 2013), pages 622–625, 2013.

97. M.H.A. Biswas and Maria do Rosáriode Pinho. Maximum principle for state and mixed constrained problems with equality and inequality mixed constraints: Convex case. In AIP Conference Proceedings 1558 (ICNAAM 2013), volume 1558, pages 638–641, 2013.

98. V. A. Bushenkov, M. M. A. Ferreira, A. F. Ribeiro, G. V. Smirnov. Numerical approach to a problem of hydroelectric resources management. In AIP Conference Proceedings 1558 (ICNAAM2013), pages 630–633, 2013.

99. M. M. A. Ferreira, A. F. Ribeiro, G. V. Smirnov. Sufficient conditions of optimality for control of hydro-electric power stations. In AIP Conference Proceedings 1558 (ICNAAM 2013), pages 586–589, 2013.

100. LUÍS TIAGO, Paiva and F. A. C. C. Fontes. Mesh refinement strategy for optimal control problems. In AIP Conference Proceedings 1558 (ICNAAM 2013), pages 590–593, 2013.

101. I Prodan, S Olaru, F Fontes, C Stoica, SI Niculescu, A predictive control-based algorithm for path following for autonomous aerial vehicles, Proceedings of IEEE Multi-Conference on Systems and Control, 2013.

102. S. O. Lopes, F. A. C. C. Fontes, G. Machado, R. Pereira, M. d. R. de Pinho. Optimal control of the irrigation problem: characterization of the solution. In Procedia Technology (CECT 2013), submitted.

103. L.T. Paiva, F. A. C. C. Fontes. Time-mesh refinement in optimal control problems for non-holomic vehicles. In Procedia Technology (CECT 2013), submitted.

104. I. Kornienko, de Pinho Maria do Rosário, Paiva, Luís Tiago, Introducing state constraints in health problems. In Procedia Technology (CECT 2013), submitted.

105. Rui Gonçalves; Ana Paula Rocha; Fernando Lobo Pereira, High level architecture for trading agents in betting exchange markets, AISC - Advances in Intelligent Systems and Computing, 2013, vol. 206, pp. 497-510.

106. P.B. Sujit, D.E. Lucani, ad J.B. Sousa: Joint route planning for UAV and sensor network data retrieval, IEEE International Systems Conference, Orlando, Florida, 2013.

107. Marcelo Borges Nogueira; João Sousa; Fernando Lobo Pereira, Underwater plume tracing with an AUV cooperative navigation scheme based on the simplex algorithm., 21st Mediterranean Conference on Control and Automation, MED 2013 – Conference Proceedings. 2013, pp. 251-256.

108. D. T. Ho, E. I. Grøtli, P.B. Sujit, T. A. Johansen: J.B. Sousa, “Cluster-based communication topology selection and UAV path planning in wireless sensor networks”, Proceedings of the International Conference on Unmanned Aircraft Systems, Atlanta, 2013.

109. D. T. Ho, E. I. Grøtli, P.B. Sujit, T. A. Johansen, and J.B. Sousa, “Performance evaluation of cooperative relay and particle swarm optimization path planning for UAV and wireless sensor

network”, Globecom Workshop - Wireless Networking and Control for Unmanned Autonomous Vehicles, Atlanta, 2013.

110. J. Borges de Sousa, “Control and Computation Challenges in Networked Vehicle Systems”, Workshop on Marine Robotics and Applications, Las Palmas, Spain, February 10-15, 2013.

111. Gonçalves, R., Ana Paula Rocha, Fernando Lobo Pereira, “High level architecture for trading agents in betting exchange markets”, in WorldCIST 2013, pp.497-510, Algarve, Portugal, March 27-30, 2013.

112. J.F. Araujo, P.B. Sujit, and J.B. Sousa, “Multiple UAV area decomposition and coverage”, Proceedings of the IEEE Symposium on Computational Intelligence for Security and Defense Applications, Singapore, April 2013, pp.30-37.

113. Eloi Pereira, Christoph M. Kirsch, Raja Sengupta, and João Borges de Sousa, “Bigactors - A Model for Structure-aware Computation”, ACM/IEEE 4th International Conference on Cyber-Physical Systems, Philadelphia, USA, April 8-11, 2013.

114. E. Pereira, C. M. Kirsch, R. Sengupta, J. Borges de Sousa, “A Model for Structure-aware Computation”, in ICCPS '13 ACM/IEEE 4th International Conference on Cyber-Physical Systems, pp.-, Philadelphia, USA, April 8-11, 2013.

115. Krishnendu Chatterjee, Vinayak S. Prabhu, “Quantitative timed simulation functions and refinement metrics for real-time systems”, Hybrid Systems: Computation and Control (HSCC 2013), pp. 273-282, Philadelphia, USA, April 8-11, 2013.

116. Teresa Grilo, Fernando Lobo Pereira, Sílvio Gama, Optimal Control of Partial Differential Equations Driven Systems, The Cape Verde International Days on Mathematics 2013, Praia, Cape Verde, April 22 - 25, 2013.

117. Vilma Oliveira, Eduardo Costa, Maria do Rosário de Pinho, Margarida Ferreira, Fernando Fontes, Fernando Pereira, An Optimal Control Framework for Resources Management in Agriculture, The Cape Verde International Days on Mathematics 2013, Praia, Cape Verde, April 22 - 25, 2013.

118. D. E. Lucani, P.B. Sujit and J.B. Sousa, "Spare the Mule, Help your Neighbors: Robot Route Planning for Data Retrieval on Large Scale Sensor Networks", IEEE Conference on Robotics and Automation - ICRA2013, Karlsruhe, Germany, May 6-10, 2013.

119. D. E. Lucani, P.B. Sujit and J.B. Sousa: Spare the Mule, Help your Neighbors: Robot Route Planning for Data Retrieval on Large Scale Sensor Networks, Proceedings International conference on Robotics and Automation, Karlsruhe, May 2013.

120. Ruben Robalo Rodrigues, Carlos Carvalho Afonso, J. Borges de Sousa, R. Caldas, Ricardo Martins e José Passos Morgado, “Experiments in multi-vehicle operations: the REP12 exercise”, MAST Conference, Gdansk, Polonia, June 4-6, 2013.

121. J. Pinto, P. Dias, R. Martins, J. Fortuna, E. Marques and J. Borges de Sousa, “The LSTS tool chain for networked vehicle systems”, Proceedings of the OCEANS13 MTS IEEE BERGEN, Bergen, Norway, June 10-13, 2013.

122. L. Madureira, A. Sousa, J. Braga, P. Calado, P. Dias, R. Martins, J. Pinto and J. Borges de Sousa, “The Light Autonomous Underwater Vehicle: Evolutions and Networking”, Proceedings of the OCEANS13 MTS IEEE BERGEN, Bergen, Norway, June 10-13, 2013.

123. M. B. Nogueira, F. L. Pereira, “An Underwater Cooperative Navigation Scheme”, Proceedings of the OCEANS13 MTS IEEE BERGEN, Bergen, Norway, June 10-13, 2013.

124. B. Pinheiro, U. Moreno, J. Borges de Sousa and O. Rodrigues, “Improvements in the Estimated Time of Flight of Acoustic Signals for AUV Localization”, Proceedings of the OCEANS13 MTS IEEE BERGEN, Bergen, Norway, June 10-13, 2013.

125. P. Lopes dos Santos, S. Deshpande, D. E. Rivera,T-P Azevedo-Perdicoulis, J. A. Ramos, J. Younger, “Identification of affine linear parameter varying models for adaptive interventions in fibromyalgia treatment”, E Proceedings of the 2013 American Control Conference (ACC), June 17-19, 2013, Washington DC, USA, pp. 1976 - 1981.

126. M.B. Nogueira, Sousa, J. B., F.L. Pereira, “Underwater plume tracing with an AUV cooperative navigation scheme based on the simplex algorithm”, 21st Mediterranean Conference on Control and Automation, IEEE, Platanias, Chania, Crete, June 25 - 28, 2013.

127. P. B. Sujit, Y. Zhang, A. J. Healey, and J. Borges de Sousa, "Multi-AUV Fault Tolerant Adaptive Sampling," Workshop on Robotics for Environmental Monitoring at the RSS (Robotics: Science and Systems) 2013 Conference, Berlin, Germany, June 28, 2013.

128. Paulo Lopes dos Santos, T-P Azevedo-Perdicoúlis, J. A. Ramos, J. L. Martins de Carvalho, G. Jank, " Continuous-time IO Systems Identification through Downsampled Models ", 2013 European Control Conference (ECC), pp 3421- 3426 July 17-19, 2013, Zürich, Switzerland.

129. T. Grilo, F. Lobo Pereira, S. Gama, "Optimal Control of Passive Particle under Point Vortices", Proceedings of the International Conference - Mathematical Methods in Engineering (MME2013), Porto, Portugal, pp. 195-200, July 22-26, 2013.

130. Fernando Lobo Pereira, João Borges de Sousa “Dynamic Optimization Control for Autonomous Vehicle Systems“, DGS II 2013 – International Conference and Advanced School Planet Earth, Dynamics, Games and Science II, Portugal, August 28- September 6, 2013.

131. T-P Azevedo-Perdicoulis, G. Jank, G, P. Lopes dos Santos, “The good behaviour of the gas network: boundary control, observability and stability”, Proceedings of the 8

th International

Workshop on Multidimensional Systems, nDS 2013, pp 1-6, September 9-11, 2013, Erlangen, Germany.

132. J. Pinto, M. Faria, J. Fortuna, R. Martins, N. Queiroz, F. Py, K. Rajan and J. Borges de Sousa, “Chasing Fish: Tracking and control in an autonomous multi-vehicle real-world experiment”, Proceedings of the OCEANS ’13 MTS/IEEE San Diego, San Diego, USA, September 23-26, 2013

133. R. Martins and J. Borges de Sousa, “An extensible networking architecture for autonomous underwater vehicles”, Proceedings of the OCEANS ’13 MTS/IEEE San Diego, San Diego, USA, September 23-26, 2013.

134. Sergey Zhukowski, Fernando Lobo Pereira, “Covering Mappings. Theory and Applications”, International Conference Kolmogorv Readings – VI “GENERAL CONTROL PROBLEMSAND THEIR APPLICATIONS” (GCP-2013) October 7-11, 2013, Tambov, Russia.

135. D.Yu. Karamzin, F.L. Pereira. Existence theorems in optimal impulsive control problems. International Conference Kolmogorv Readings – VI “GENERAL CONTROL PROBLEMSAND THEIR APPLICATIONS” (GCP-2013) October 7-11, 2013, Tambov, Russia.

136. D.Yu. Karamzin, F.L. Pereira. On some extensions of optimal control theory. International Conference Kolmogorv Readings – VI “GENERAL CONTROL PROBLEMSAND THEIR APPLICATIONS” (GCP-2013) October 7-11, 2013, Tambov, Russia.

137. Abel Ferreira, Adriano Carvalho, António Martins, Filipe Pereira, and Vítor Sobrado, "Comparison of PWM Methods for Current Harmonic Reduction in a Non-ideal Grid", Proceedings of the 39th IEEE Industrial Electronics Conference, IECON 2013, November 10-13, 2013, Vienna, Austria, pp. 536-541.

138. Filipe Pereira, Abel Ferreira, Vítor Sobrado, António Martins, Adriano Carvalho, "Push-Pull DC-DC Converter with Planar Transformer for PV Application", in Proceedings of the 39th IEEE Industrial Electronics Conference, IECON 2013, November 10-13, 2013, Vienna, Austria, pp. 1178-1182.

139. M.T. Outeiro, A. S. Carvalho, "Considerations of Designing a Series Resonant Converter for PEM Fuel Cells", " in Proceedings of the 39th Annual Conference of the IEEE Industrial Electronics Society (IECON'13), Vienna, Austria, November 10-13, 2013.

140. M.T. Outeiro, G. Buja, R. Visintini, "Issues and Design Considerations to face in High-Performance Power Supplies", in Proceedings of the 39th Annual Conference of the IEEE Industrial Electronics Society (IECON'13), Vienna, Austria, November 10-13, 2013.

141. J. Ricardo Soares, Tiago Sá, Armando S Araújo, Adriano S. Carvalho, "A new FPGA based PMSM torque controller for hybrid and electric vehicles powertrain", 27th International Electric Vehicle Symposium, EVS27 Symposium, Barcelona, Spain, November 17-20, 2013.

142. Daniel F. Magalhães, Armando S. Araújo, Adriano S. Carvalho, "A Model for Battery Lifetime Calculation Implementable in Circuit Simulators", 27th International Electric Vehicle Symposium, EVS27 Symposium, Barcelona, Spain, November 17-20, 2013.

143. J. Fortuna, F. Ferreira, R. Gomes, S. Ferreira, J. Borges de Sousa, ”Using low cost open source UAVs for marine wild life monitoring - Field Report”, 2nd RED-UAS 2013 Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, November 20-22, 2013.

144. P. McGillivary, K. Rajan, J. Borges de Sousa, "Networking Multiple Autonomous Air and Ocean Vehicles for Oceanographic Research and Monitoring", AGU conference, San Francisco, December 9-12, 2013.

145. P. Lopes dos Santos, T-P Azevedo-Perdicoúlis, J. A. Ramos, J. L. Martins de Carvalho, D. E. Rivera, “Identification of LPV State Space systems by a separable least squares approach”,

Proceedings of the 52nd

IEEE Conf on Decision and Control, pp 4104-4109 December 10-13, 2013. Florence, Italy.

146. J. Estrela da Silva, F. Lobo Pereira and J. Borges de Sousa, “Reachability analysis of dynamic programming based controlled systems”, 52nd IEEE Conference on Decision and Control - CDC2013, Palazzo dei Congressi, Florence, Italy, December 10-13, 2013.

International Conference editorial

F. Lobo Pereira, editorial of the Proceedings of the workshop NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, April 10-12, Portugal, http://paginas.fe.up.pt/~ngcuv2012/ (Proceedings are published electronically in the IFAC PapersOnLine website. B.2 National scientific meetings (with peer-reviewed, indexed, published articles)

1. R. Costa, P. Portugal, F. Vasques, R. Moraes, R. Custódio, RT-WiFi: um mecanismo TDMA para

suportar comunicacões de tempo real em redes IEEE 802.11, Proceedings of the XXIX Simpósio Brazileiro de Telecomunicações, SbrT'11, Curitiba, Brazil, October 5-10, 2011.

2. Gerson F. Budke, C. Montez, Ricardo Moraes, Paulo Portugal, Uma Abordagem de Comunicação para Fusão de Dados Paralela em Redes de Sensores sem Fio IEEE 802.15.4, Proceedings of the XIII Brazilian Real-time Systems Workshop, WTR 2011, Florianópolis, Brazil, November 7-11, 2011.

3. Teresa Grilo; Fernando Lobo Pereira; Sílvio Gama, "Controlo óptimo de sistemas dinâmicos impulsionados por escoamentos de Couette", Encontro Nacional da Sociedade Portuguesa da Matemática 2012, Universidade do Algarve – Faro, July 9, 2012.

4. O. Valle, A. Milack, C. Montez, P. Portugal, F. Vasques, Uma nova classe de mensagens para redes IEEE 802.15.4, XXX Simpósio Brazileiro de Telecomunicações (SBrT-2012), Brasília, Brazil, September 13-16, 2012.

5. S.E. Zhukovskiy, Well posedness of ordinary differential equations unsolved for the derivative of unknown function. Proceedings of the conference “Tikhonov readings”, Moscow, MSU, October 29-31, 2012, pp. 20-21.

6. F. Lobo Pereira, Plenary speaker “Control Design for Autonomous Vehicles: A Dynamic Optimization Perspective” Congresso de matemática Aplicada e computacional da Região Nordeste (CMAC-NE), November 28-30 2012, Natal, RN, Brazil.

7. D. Costa, L. Guedes Affonso, F. Vasques, P. Portugal, Adaptive Multimedia Transmission in Wireless Sensor Networks, Conferência sobre Redes de Computadores (CRC'12), Aveiro, Portugal, 2012.

8. SO Lopes, FACC Fontes, MR Pinho, R Pereira, AM Gonçalves, GJ Machado, An optimal control approach to the irrigation planning problem, Conferência Brazileira de Dinâmica, Controle e Aplicações (DINCON), 2013.

9. Fernando L. Pereira, Maria R. Pinho, Margarida Ferreira, Fernando Fontes, Eduardo F. Costa, Vilma A. Oliveira, Elenice W. Stiegelmeier, Geraldo Silva, “Optimal Control for Resources Management in Agriculture”, Conferência Brazileira de Dinâmica, Controle e Aplicações (DINCON), 2013.

10. Filipe Pereira, Abel Ferreira, Vítor Sobrado, António Martins, Adriano Carvalho, “Push-Pull DC-DC Converter with Planar Transformer for PV Application”, em conferência StudECE ‘2013, June 26 2013, FEUP, Porto.

11. Vítor Sobrado, Abel Ferreira, Filipe Pereira, António Martins, Adriano Carvalho, “Bidirectional DC-DC Converter with High Frequency Isolation for V2G Applications”, em conferência StudECE ‘2013, June 26 2013, FEUP, Porto.

12. Abel Ferreira, Filipe Pereira, Vítor Sobrado, António Martins, Adriano Carvalho, “Dynamic Performance of Voltage Oriented Control Method Applied in a Voltage Source Converter”, em conferência StudECE ‘2013, June 26, 2013, FEUP, Porto.

13. Vitor Sobrado, Filipe Pereira, António Martins, Adriano Carvalho "Conversão de Potência em Sistemas Auxiliares" em conferência Workshop Jovens Investigadores na Área da Ferrovia, October 23, 2013, FEUP, Porto.

B.3 Invited Technical Talks (including Plenary talks in Scientific and Technical Meetings)

1. Martins, Ricardo, “High level control in autonomous systems for ocean science”, International

Marine and Sub-marine Infrastructures Symposium (MSI 2012), Toulon, November 13-15, 2009. 2. Cláudio Monteiro, “Novo Paradigma das Redes Eléctricas”, Invited Talk, Organizado por

PUBLINDÚSTRIA, ISEP, Porto, January 2011. 3. Cláudio Monteiro, “Short therm wind Power forecast”, Invited Talk, Seminário Internacional

sobre “Large Scale wind energy integration”, Organizado por MEGAJOULE, Porto, January 2011. 4. Cláudio Monteiro, “Renewable Power Forecast Services”, WorkShop ANEMOS.plus, Invited

Talk, organizado pela REN, March 2011. 5. Cláudio Monteiro, “Determinar poupanças de energia com M&V Protocolo IPMVP e outros

conceitos”, Invited Talk, Seminário organizado pela Câmara de Comércio e Indústria Luso-Alemã, Porto, May 2011.

6. Cláudio Monteiro, “Protocolo de Medição e Verificação IPMVP”, Invited Talk - Seminário sobre Eficiência Energética na Indústria, Organizado por NERLEI Associação Empresarial da Região de Leiria, Leiria, June 2011.

7. Cláudio Monteiro, “Spatial Energy Planing”, Invited Talk, Universidad de Saragoza, Saragoza, July 2011.

8. Cláudio Monteiro, “Protocolo de Medição e Verificação IPMVP”, Invited Talk, Curso de Gestão de Energia em Edifícios de Serviços, Organizado por ADENE e Schneider, Lisboa, October 2011.

9. Cláudio Monteiro, “Protocolo de Medição e Verificação IPMVP”, Invited Talk, Curso de Gestão de Energia em Edifícios de Serviços, Organizado por ADENE e Schneider, Porto, December 2011.

10. Martins, Ricardo, “An open-source software suite for air and ocean vehicles”, AUV 2012, Southampton, September 24-27, 2012

11. F. Lobo Pereira, Plenary talk “Control Design for Autonomous Vehicles: A Dynamic Optimization Perspective” Congresso de Matemática Aplicada e Computacional da Região Nordeste (CMAC-NE), November 28-30, 2012, Natal, RN, Brazil.

12. A. S. Carvalho, Invited Seminar, "A New High Power Efficient Electronic Converter For Fuel Cell Applications" seminar made in Elettra Sincrotrone Trieste S.c.p.A. Trieste, Italy, January 23 2013.

13. J. Borges de Sousa, “The NOPTILUS project”, EDA/FP7 meeting on Unmanned Maritime Systems, Brussels, May 2013.

14. A. S. Carvalho, Invited Presentation, “ Hydrogen and Fuel Cells”, at ESTG- Instituto Politécnico de Viana do Castelo, Portugal, at “1as Jornadas em Sistemas de Energias Renováveis e Eficiência Energética”, June 5, 2013.

15. J. Borges de Sousa, “Oceanos: desafios e oportunidades”, Invited talk, Maputo, Mocambique, August 2013.

16. J. Borges de Sousa, “Advantages of using UAVs and AUVs in HNS response”, Arcopol project Workshop “Opportunities for the development of AUVs, UAVs and marine sensors for detecting and managing threats from Hazardous Noxious Spills in the marine environment”, Wednesday September 4, 2013, National Maritime College of Ireland, Cork, Ireland.

17. A. S. Carvalho, Invited Seminar: “ Contrôle des systèmes en électronique de puissance”, at University of Lyon, Laboratoire Ampère - Département Génie Electrique, Lyon - France, September 26, 2013.

18. A. S. Carvalho, Invited Presentation: “Education and Research at FEUP Industrial Electronics Team”, at FCLAB - "Fuel Cell Lab" FR CNRS 3539, Rue Thierry Mieg F-90010 Belfort - France, September 27, 2013.

19. Mário Amorim Lopes, Fernando ACC Fontes, Dalila ACC Fontes, Optimal Control of Infinite-Horizon Growth Models—A direct approach, O MPC 2013-SADCO Summer School and Workshop on Optimal and Model Predictive Control, October 2013.

20. J. Borges de Sousa, “Control and computation challenges in networked vehicle systems”, Invited talk, Department of Computer Science, University of Southern California, Los Angeles, October 2013.

21. J. Borges de Sousa, “Networked vehicle systems for oceanographic field measurements: capabilities = f (vehicles, networks, interactions)”, Underwater Technologies Workshop, NIOT, Madras, India, October 2013.

22. J. Borges de Sousa, “Looking to the future of autonomous oceanographic field measurements: capabilities=f (vehicles, networks, interactions)”, Invited talk, MBARI, Moss Landing, US, October 2013.

23. J. Borges de Sousa, “Networked vehicle systems: capabilities = f (vehicles, networks, interactions)”, Invited talk, Department of Computer Science, IIT Madras, Madras, October 2013.

24. Fernando Lobo Pereira, “Selected issues on the optimal control of networked autonomous vehicles”, Plenary talk, XI Simpósio Brazileiro de Automação Inteligente – SBAI and XI Conferência Brazileira de Dinâmica, Controle e Aplicação - DINCON, Fortaleza, Ceará, Brazil, October 13-17, 2013.

25. Jorge Estrela da SIlva, João Sousa, Fernando Lobo Pereira, Dynamic Optimization Challenges in Autonomous Vehicle Systems, O MPC 2013-SADCO Summer School and Workshop on Optimal and Model Predictive Control, October 2013.

C – Reports

1. S.E. Zhukovskiy, “On the covering property of restrictions of mappings in metric spaces”,

Tambov University Reports. Series: Natural and Technical Sciences, 2012, T. 17, No 3, pp. 852 - 856.

2. Krishnendu Chatterjee, Thomas A. Henzinger, Vinayak S. Prabhu, “Finite automata with time-delay blocks (extended version),” In: http://arxiv.org/abs/1207.7019

3. 2Krishnendu Chatterjee, and Vinayak S.~Prabhu, "Quantitative Timed Simulation Functions and Refinement Metrics for Timed Systems (full version)," In: http://arxiv.org/abs/1212.6556

4. J. Borges de Sousa, Ricardo Bencatel, Ricardo Martins, José Pinto, Maria Nunes Bento, Maria Madruga Matos, José A. P. Morgado, Elói Pereira, "Unmanned air systems for maritime surveillance: developments and operations", Cruser, Naval Postgraduate School, 2013.

Each one of the research projects listed below (in item L) require multiple technical reports documenting the multiple activities. The number of reports can be obtained and estimated easily by the number of contracts which are listed below and generally available in the web. The scientific and technical information contained in these reports strongly overlap the contents of the articles listed here, and, thus little informational value would be added. D – Organization of conferences and workshops, invited sessions, seminars

1. Real-Time System Symp, RTSS 2011 –IPC member: P Portugal. 2. Summer School and Workshop of the European Project 264735-SADCO, Local: Imperial College,

London, UK, September 5-9, 2011. SADCO é um projecto europeu do 7th Framework Programme FP7-PEOPLE-2010-ITN, Organizadores: Richard Vinter and Maria do Rosário de Pinho.

3. III International Conference on Power Engineering, Energy and Electrical Drives, May 11-13, 2011, Málaga, Spain. IPC member: Adriano de Carvalho.

4. Workshop of Noptilus project, FEUP, May 16-17, 2011. Key participants: E. Kosmatopoulos, CERTH; C Pradalier, ETH Zurich; G Leus, TU Delft; G Karystinos, TSI; M Petrou, Imperial College; R Cunha, APDL. Organizer: J Sousa, FEUP.

5. Workshop of C4C Project, FEUP, July 4-7, 2011. Key participants: H. Thompson, CER; M Valé, TRY; M Capiluppi, UVR; J Vrancken, TUD; J van Schuppen, CWI; J Vandewalle, HNN; M Polycarpou, UCY; L Somers, OCE; J Baeten, TUE. Organizer: J Sousa, F. Lobo Pereira.

6. "Multisensor Fusion: Advanced Methodology and Applications", M Weiß, P Willett, W Koch, S Coraluppi, Dr. Roy Streit, NATO Lect Series SET-157, July 06-07, 2011. Organizer: J Sousa.

7. 8th Intl ISAAC Congress, Moscow, August 22-27, 2011. Section organizer & IPC member: F. Lobo Pereira.

8. 2nd

International Symposium on Computational Intelligence for Engineering Systems (ISCIES'11), November 16-18, 2011, Coimbra, Portugal. IPC member: Adriano de Carvalho.

9. Artist Design Workshop 2011 - Organization Committee member: M Sousa. 10. Conference: 7th IEEE International Conference on Emerging Technologies and Factory

Automation (ETFA 12), 2012, Participants: Program Committee – Mário de Sousa. 11. Conference: 4th Workshop on Adaptive and Reconfigurable Embedded Systems, APRES 2012

Participants: Program Committee – Mário de Sousa. 12. CDC 2012 - Conference on Decision and Control, Grand Wailea Maui, HI, USA, 2012, IPC

members - Fernando Lobo Pereira. 13. ECC 2012 – European Control Conference, associate editor - Fernando Lobo Pereira. 14. Controlo 2012, Madeira, Portugal, Membros do Comité científico: Maria Rosário Pinho,

Fernando Fontes, Paulo Lopes dos Santos, Jorge Martins de Carvalho. 15. IFAC Workshop NMPC 2012, Netherlands, Membros do Comité científico: Fernando Fontes 16. The DyCoSS’2012-1st IAA Conference on Dynamics and Control of Space Systems: Membros do

Comité Organizador local: Maria Margarida Ferreira, University of Porto, Portugal, coordinator, Maria do Rosário de Pinho, University of Porto, Portugal.

17. Workshop NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, April 10-12, 2012, Portugal, http://paginas.fe.up.pt/~ngcuv2012/. IPC members: João Sousa, Fernando Lobo Pereira,

18. F. Lobo Pereira, editorial of the Proceedings of the workshop NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, April 10-12, 2012, Portugal, http://paginas.fe.up.pt/~ngcuv2012/ (Proceedings are published electronically in the IFAC PapersOnLine website).

19. Conference 4th Workshop on Adaptive and Reconfigurable Embedded Systems (APRES 2012), April 16, 2012 in Beijing, China. Participants: Program Committee - Paulo Portugal.

20. Conference: 9th IEEE International Workshop on Factory Communication Systems (WFCS 2012), May 21-24, 2012, Lemgo/Detmold, Germany. Chairman: Session 6: Verification, fault tolerance and performance - Chair: Paulo Portugal, University of Porto.

21. Workshop NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, April 10-12, 2012, Portugal, http://paginas.fe.up.pt/~ngcuv2012/. Chairperson: João Borges de Sousa (FEUP), Local organization (research team of the project).

22. Conference: EEE 17th International Conference on Emerging Technologies and Factory Automation (ETFA 2012), September 17-21, 2012, Kraków, Poland. Chairman: Track 2-3: CAN & RTE - Co-chairs: Paulo Portugal and Julian Proenza.

23. Conference: EEE 17th International Conference on Emerging Technologies and Factory Automation (ETFA 2012), September 17-21, 2012, Kraków, Poland. Chairman: WIP 1.2 - Co-chairs: Paulo Portugal and Javier Silvestre-Blanes.

24. Conference: EEE 17th International Conference on Emerging Technologies and Factory Automation (ETFA 2012), September 17-21, 2012, Kraków, Poland. Chairman: SS02-2: Fault Tolerance Techniques in Distributed Embedded and Automation Systems - Co-chairs: Paulo Portugal and Julián Proenza.

25. Conference: EEE 17th International Conference on Emerging Technologies and Factory Automation (ETFA 2012), September 17-21, 2012, Kraków, Poland. Special Session on Fault Tolerance Techniques in Distributed Embedded and Automation Systems.

26. IEEE IES Industrial Electronics Conference 2012, October 25-28, 2012 | ÉTS, Montréal, Canada. IPC member: Adriano de Carvalho.

27. Conference 12ª Conferência sobre Redes de Computadores, November 14-16, 2012, Aveiro, Portugal. Participants: Program Committee - Paulo Portugal.

28. ACC 2013 - American Control Conference, Washington, DC, USA, 2013. IPC members and invited sessions - PB Sujit.

29. ECC 2013 – European Control Conference, associate editor - Fernando Lobo Pereira. 30. SADCO International Meeting, Funchal, Madeira, January 2013, Maria do Rosário de Pinho,

organizer. 31. João Borges de Sousa from FEUP, António Pascoal from IST (PT) and Kanna Rajan from MBARI

(US) organized the first edition of the Workshop on Marine Robotics and Applications which took place in February 2013 in the Canary Islands. This was an invitation only workshop with participants from EU. US, and Canada.

32. EPCO 2013, Encontro Português de Controlo Ótimo, February 2013, Porto. Organizers: Maria do Rosário de Pinho, Maria Margarida A. Ferreira, Fernando A CC Fontes, Igor Kornienko, Sofia Oliveira Lopes, Ana Filipa Ribeiro and Delfim F M Torres.

33. OC2013 - Oceans Challenges and Opportunities, May 13-17, 2013 APDL - Administração dos Portos do Douro e Leixões, Lda,

34. StudECE2013, June 2013, FEUP. Organized, among others by Luis Tiago Paiva and Ana Filipa Ribeiro. Maria do Rosário de Pinho was a member of the steering Committee.

35. Symposium on the “Optimal Management of Resources in Agriculture” in the context of the conference DINCON/SBAI 2013, Fortaleza, October 13-17, 2013, with the participation of EMBRAPA, UP, USP and UNESP

36. 52nd

IEEE Conference on Decision and Control, Zurich, Switzerland, December 10-13, 2013. Associate Editor: Fernando Lobo Pereira.

37. Fourth edition of the Rapid Environmental Assessment (REP13) exercise (http://rep13.lsts.pt/) organized in cooperation with the Portuguese Navy, Portugal, 2013. The exercise took place off the coast of Sesimbra, Portugal, but continued further south from the Portimão airfield. It involved participants from MBARI (USA), Evologics (DE), and the Norwegian University of Science and Technology (NOR). Several large and small propeller-driven ASVs, AUVs with different sensors and acoustic modems were deployed from Bacamarte, a ship from the Portuguese Navy. Several PITVANT UAS were used in these experiments, some being deployed and recovered from civilian airports under monitoring of the Portuguese Air Force, and others launched and recovered aboard Bacamarte. The exercise was targeted at applications in Mine Warfare, Harbour Protection, Expeditionary Hidrography, Search and Rescue, Maritime Law Enforcement, and Rapid Environmental Assessment.

38. CANON experiment (http://www.mbari.org/canon/), Pacific Ocean, organized by the Monterey Bay Aquarium Research Institute (MBARI), 2013. FEUP participated in this exercise with one LAUV AUV and technology for coordination with the Dorado AUV, the TEX Wave Glider and ships from MBARI for oceanographic data collection. This was done in cooperation with Kanna Rajan from the MBARI.

E - Advanced Education

E.1 PhD thesis completed

1. Author: Amélia Caldeira

Title: Optimization and control of nonholonomic vehicles and vehicles formations Institution: FEUP, PDMA - Programa Doutoral Matemática Aplicada, 2012 Supervisor: FACC Fontes, D. Fontes

2. Author: Marta Sofia Rodrigues Monteiro Title: Ant Colony Optimization Algorithms for Nonlinear Network Flow Problems Institution: FEP, Faculty of Economy of Porto University, 2012 Supervisor: D. Fontes FACC Fontes,

3. Author: M.H. A. Biswas Title: Necessary Conditions for Optimal Control Problems with State Constraints: Theory and Applications Institution / Date: FEUP, PDEEC 2013 Supervisor:Maria do Rosário Pinho

4. Author:Carlos João Costa Ramos, Title: Modelação e controlo de conversores de tensão aplicados à máquina assíncrona duplamente alimentada, Institution / Date: FEUP, Jan, 2011 Supervisor: Adriano Carvalho Co-supervisor: António P. Martins

5. Author: José Eduardo Monney Paiva Title: Integration of Renewable Sources into Hybrid Renewable Energy Systems Institution / Date: FEUP, PDEEC 2012 Supervisor: Adriano Carvalho

6. Author:Maria Teresa Outeiro Title: A new high power efficient electronic converter for fuel cell applications Institution / Date: FEUP, PDEEC 2012 Supervisor:Adriano Carvalho Co-supervisor:Rui Chibante

7. Author: Eduardo Resende Brandão Marques Title: Modular, Flexible Real-Time Systems Institution / Date: FCUP, FEUP. Completed in 2011 Supervisor: Luís Lopes (FCUP), Christoph M. Kirsch (Univ. Salzburg)

8. Author: Ricardo Ayres Gomes Bencatel Title: Perpetual Flight in Flow Fields Institution / Date: FEUP, PDEEC. Completed in 2012 Supervisor: Fernando Lobo Pereira Co-supervisor: Anouck Girard

9. Author: Marcelo Borges Nogueira Title: Cooperative Vehicle Localization in Networked Systems Institution / Date: FEUP, PDEEC March 2013 Supervisor: Fernando Lobo Pereira

E.2 PhD thesis in progress

1. Author: Luis Roque

Title: Técnicas de Optimização Dinâmica para Determinação de Opções Reais no Sector Energético Institution / Date: FEUP, Programa Doutoral Matemática Aplicada, submitted in 2013 Supervisor: FACC Fontes Co-supervisor: D. Fontes

2. Author: Ana Filipa de Castro Amarante e Ribeiro Title: Problemas de controlo óptimo na gestão de recursos hidroeléctricos Institution: FEUP, PDMA Supervisor: M. M. A. Ferreira and G. Smirnov

3. Author: Igor Kornienko Title: First order optimality conditions under state constraints Institution: FEUP, PDEEC- Secondement in Univ. Bayreuth, Germany (SADCO Fellow) Supervisor: Maria do Rosário de Pinho Co-supervisor: Sofia Oliveira Lopes

4. Author: Sara Baltazar Title: Detecção de Fugas em redes de gás de alta pressão Institution: UTAD Supervisor: Teresa Perdicpúlis (UTAD) Co-supervisor: Paulo Lopes dos Santos

5. Author: Rui Monteiro Brito

Title: Optimização da autonomia de veículos eléctricos híbridos por controlo da potência eléctrica no barramento de corrente contínua,

Institution: FEUP Supervisor: Adriano Carvalho, Co-supervisor: Manuel Gericota

6. Author: Maria Teresa Grilo

Title: Optimal control of hybrid ODE and PDE systems (preliminary) Institution / Date: FEUP, PDMA-UP, 2012-1015 Supervisor: Fernando Lobo Pereira Co-supervisor: Sílvio Gama

7. Author: Jorge Manuel Estrela da Silva Title: Value Function Control of Autonomous Vehicles Institution: FEUP, PDEEC, 2011-14 Supervisor: Fernando Lobo Pereira

8. Author: José Queirós Pinto Title: A Cooperation Infrastructure for Heterogeneous Vehicles and Sensors Institution: FEUP, MAP-i Supervisor: Fernando Lobo Pereira

9. Author: Eduardo Felippe Aguiar Mendes Title: Control of Quadrotor UAVs: a Hybrid Systems Approach Institution: FEUP, PDEEC, 2011-15 Supervisor: Fernando Lobo Pereira

10. Author: Paulo Sousa Dias Title: Infra-estrutura para a coordenação e controlo distribuído de veículos autónomos heterogéneos com interacções homem-sistema Institution: FEUP, PDEEC Supervisor: Fernando Lobo Pereira

11. Author: Rui Manuel Ferreira Gomes

Title: Model Predictive Control Framework for AUV Formation Control Institution: FEUP, PDEEC, FEUP Supervisor Fernando Lobo Pereira

12. Author: Rui Jorge Pereira Gonçalves Title: Decentralized Multi-agent Decision Support Systems (temporary) Institution / Date: FEUP-MAP-i Supervisor: Fernando Lobo Pereira Co-supervisor: Ana Paula Rocha

13. Author: Adriano Manuel Almeida Santos Title: Framework for Transparent Replication of IEC 61499 Distributed Applications Institution : FEUP, PDEEC Supervisor: Mário de Sousa

14. Author: Robson Costa Title: RT-WiFi: A mechanism for real-time communications in IEEE 802.11 networks Institution: FEUP Supervisor: Paulo Portugal

15. Author: Ivanovitch Medeiros Dantas da Silva Title: Uma Metodologia para Modelagem e Avaliação da Dependabilidade de Redes Industriais Sem Fios Institution: UFRN, Brazil Co-supervisor: Paulo Portugal

16. Author: António Sérgio Ferreira

Title: TBD Institution: PDEI, FEUP Supervisor: Fernando Lobo Pereira

17. Author: Hegagi Mohamed Ali Ahmed Title: TBD Institution: PDMA-UP, FCUP, 2013-2016 Supervisor: Sílvio Gama, Fernando Lobo Pereira

18. Author: Nagwa Arafa Title: TBD Institution: PDMA-UP, FCUP 2013-2016 Supervisor: Sílvio Gama, Fernando Lobo Pereira

E.3 M.Sc thesis completed

1. Author: Cristina Isabel Lago Simão

Title: High Pressure Pipelines Model Estimation for Leakage Detection Institution/Date: MEEC, UTAD, 2013 Supervisor: T-P Perdicoúlis Co-supervisor: P. Lopes dos Santos

2. Author: Marta Sofia Alves Esteves Title: System Identification – Subspace Methods for State-Space Models identification Institution/Date: MEEC, UTAD, 2013 Supervisor: T-P Perdicoúlis Co-supervisor: P. Lopes dos Santos

3. Author: Emanuel Carlos Pinto Meireles Title: Inversor multinível trifásico, cascaded H-bridge, controlado por FPGA Institution/Date: FEUP, 2010 Supervisor: António P. Martins

4. Author: Domingos Miguel Sequeira Carvalho Title: Análise e caracterização de sistemas fotovoltaicos de baixa potência com ligação à rede eléctrica Institution/Date: FEUP, 2011 Supervisor: António P. Martins

5. Author: João Queirós Title: "Projecto e Dimensionamento de um Sistema de Aquisição de Dados e Monitorização para o Power Train de um Veículo Eléctrico” Institution/Date: FEUP, 2011 Supervisor: Armando Araújo

6. Author: Tiago Ramos Title: Sistema de tracção de um VEC (Veículo Eléctrico de Competição) Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

7. Author: Tiago Rocha Title: Sistema de Alimentação de um VEC (Veículo Eléctrico de Competição) Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

8. Author: Rui Santos

Title: Sistema de Sensorização e Telemetria de um VEC (Veículo Eléctrico de Competição) Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

9. Author: Francisco Falcão e Cunha Title: Controlo Conversor CC/CC para Módulos Fotovoltaicos Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

10. Author: Fillipe Lunardelli Ribeiro Title: Telepresença - Robô Vigilante Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

11. Author: João Oliveira Title: SISTEMA ANTI ROUBO DE VEÍCULOS COM GSM/GPS Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

12. Author: José Duarte Title: Development of Unmanned Aerial Four-Rotor Vehicle Institution/Date: FEUP, 2012 Supervisor: Armando Araújo

13. Author: Carlos André Soares Costa e Silva Title: Conversor CC/CC para Aplicação em Instalação Fotovoltaica Institution/Date: FEUP, MIEEC / 2013 Supervisor: Armando Araújo

14. Author: Nuno Cruz de Lima Curral Title: Microinversor para Módulos Fotovoltaicos Institution/Date: FEUP, MIEEC / 2013 Supervisor: Armando Araújo

15. Author: Telmo de Sousa Lima Title: MPPT for a Photovoltaic Micro-Inverter Institution/Date: FEUP, MIEEC / 2013 Supervisor: António Martins

16. Author: Sandro Filipe Martins do Vale Title: Microinversor para Painel Fotovoltaico Institution/Date: FEUP, MIEEC / 2013 Supervisor: António Martins

17. Author: Filipe Miguel Costa Pereira Title: Conversor CC/CC Elevador para Painéis Fotovoltaicos Institution/Date: FEUP, MIEEC / 2013 Supervisor: António Martins

18. Author: Ramiro José Monteiro Cortez Title: Sistema de Seguimento Solar em Produção de Energia Fotovoltaica Institution/Date: FEUP, MIEEC / 2013 Supervisor: Adriano Carvalho

19. Author: João Filipe Fortuna Araújo Title: Mixed Initiative Planning and Control of UAV Teams for Persistent Surveillance Institution/Date: MIEEC, FEUP / 2012 Supervisor: João Borges Sousa

20. Author: Daniel Valente Silva Title: Veículo Aéreo Não Tripulado para integração com Redes de Sensores Sem Fios Institution/Date: MIEEC, FEUP / 2012 Supervisor: Gonçalves G.M., Ferreira A.S.

21. Author: Filipe Manuel Costa Ferreira Title: Desenvolvimento de Módulos para Planeamento e Controlo de Execução de Missões de Veículos Aéreos não Tripulados Institution/Date: MIEEC, ISEP / 2012 Supervisor: Silva J.E., João Borges de Sousa

22. Author: Alexandre Roda Title: Mapeamento Terrestre, em tempo real, através de Veículos Aéreos Não Tripulados Institution/Date: MIEEC, FEUP / 2012 Supervisor: Gonçalves G.M., Ferreira A.S.

23. Author: Pedro Filipe Lopes Maçaira Nogueira Title: Formal Advanced Mission Planning Specification Institution/Date: FEUP, MIEEC / 2013 Supervisor: João Borges de Sousa

24. Author: Hugo Manuel Soares Oliveira Title: Controlo cooperativo com iniciativa mista Institution/Date: FEUP, MIEEC / 2013 Supervisor: João Borges de Sousa

25. Author: Albino Guambe Title: Modeling and Control of Manufacturing Systems based on Queueing Theory Institution/Date: FEUP, MIEEC / 2013 Supervisor: Fernando Lobo Pereira

26. Author: Diana Guimarães Title: Biped Locomotion Systems – support to human mobility Institution/Date: MIEEC, FEUP, July 2013 Supervisor: Fernando Lobo Pereira

27. Author: Fábio Oliveira Title: Design and Implementation of an Industrial Production Information System. Institution/Date: University of Porto, Engineering Faculty, July 2013 Supervisor: Mário de Sousa

28. Author: Marco Teixeira Title: Automation of Production Line Following ISA88 Institution/Date: University of Porto, Engineering Faculty, July 2013 Supervisor: Mário de Sousa

29. Author: Filipe Ramos Title: Eclipse based IDE for IEC61131-3 Program Development Institution/Date: University of Porto, Engineering Faculty, July 2013 Supervisor: Mário de Sousa

30. Author: Nuno Oliveira

Title: Verification and Validation of an Open Source IEC61131-3 Compiler Institution/Date: University of Porto, Engineering Faculty, July 2013 Supervisor: Mário de Sousa

31. Author: Flávio Oliveira Title: Design and Development of a CAN-KNX Bridge Institution/Date: FEUP, July 2013 Supervisor: Mário de Sousa

E.4 M.Sc thesis underway

1. Author: Guilherme Gonçalves Coelho de Freitas Carvalho

Title: Localização baseada em comunicações e optimização de comunicações Institution/Date: FEUP, MIEEC, 2014 Supervisor: João Borges de Sousa

2. Author: Tiago Filipe Carvalho Rodrigues Title: Non-linear observer design for AUVs Institution/Date: FEUP, MIEEC, 2014 Supervisor: João Borges de Sousa

3. Author: Manuel António Ribeiro Title: Sistema de planeamento para múltiplos UAVs Institution/Date: Faculdade de Ciências da Universidade de Lisboa, 2014 Supervisor: Eduardo Marques Co-Supervisor: João Borges de Sousa

4. Author: Rafael de Castro Aguiar Title: Modelização e Controlo de uma Prótese Biónica de um Braço Institution/Date: FEUP, 2014 Supervisor: Fernando Lobo Pereira

E5 – Other courses

1. “The Manufactronic Networked Factory: one-day training event for Eng students”, FEUP,

15/07/11, P. Portugal.

2. J. Borges de Sousa, Ricardo Bencatel, Ricardo Martins, José Pinto, Maria Nunes Bento, Maria Madruga Matos, José A. P. Morgado e Elói Pereira, “Unmanned air systems for maritime surveillance: developments and operations”, newsletter from the Naval Postgraduate School's (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) Cruser, Naval Postgraduate School, January 23, 2013

E6 – Supervision of Postdoc Researchers

Fernando Lobo Pereira has been supervisor of the following postdoc researchers

• Dmitri Karamzin – 2011, 2012

• Yanrui Geng – 2011, 2012

• Sergey Zhukowskiy – 2012, 2013

• Sujit Pedda Baliyarasimhuni – 2011, 2012, 2013

E7 – Participations in Doctoral Programs

The researchers of the R&D Unit 147 - INSTITUTO DE SISTEMAS E ROBÓTICA – ISR PORTO which, are involved in the project PEst-OE/EEI/UI0147/2011 have been engaged in the following Doctoral Programs:

• MAP-PDMA-FCT-FCT – The FCT Doctoral Program in Applied Mathematics involving the Universities of Porto, Aveiro, Minho and Beira Interior.

• PDMA-UP – Doctoral Program in Applied Mathematics of Porto University involving FEUP, FCUP, ICBAS and FEP.

• PDEEC – Doctoral Program in Electrotechnical and Computer Engineering of FEUP.

• PDEI – Doctoral Program in Informatics Engineering of FEUP.

• MAPi – Doctoral Program in Informatics involving the Universities of Porto, Minho and Aveiro.

E.8 Participation in PhD and Habilitation (Agregação) Examination Committees external to the R&D

Unit

Fernando Lobo Pereira discussed in the following thesis committees:

• Norberto Pires, FCTUC, Universidade de Coimbra, Agregação, Feb 17-18, 2011

• Jorge Dias, FCTUC, Universidade de Coimbra, Agregação, Oct 24-25, 2011

• Pedro Costa, FEUP, Universidade do Porto, PhD, Nov 7, 2011

• Carlos Silvestre, IST, Universidade Técnica de Lisboa, Agregação, Dec 21-22, 2011

• Duarte Antunes, IST, Universidade Técnica de Lisboa, PhD, April 26, 2012

• Oswaldo Ludvig, FCTUC, Universidade de Coimbra, PhD, Abril 26, 2012

• Ana Cristina Barata Pires Lopes, FCTUC, Universidade de Coimbra, PhD, 2012

• Ionela Prodan, SUPELEC, Paris, France, PhD, Oct 15, 2012

• Vahid, IST, Universidade Técnica de Lisboa, PhD, Dec 12, 2012

• Perera, IST, Universidade Técnica de Lisboa, PhD, Dec 27, 2012

• Violeta Vivanco Orellana, Universidade de Sevilha, Feb, 2013

• Pia Kempker, CWI, Amsterdam, The Netherlands, Aug 10, 2013

• Ricardo Castro, FEUP, Universidade do Porto, PhD, Sept 27, 2013 F – Models / G – Computational Applications

The following software tools have been developed to operate autonomous underwater, surface and air vehicles:

1. DTN – Disruptive Tolerant Network Communication Systems

2. Designation: ACCU - Android Command and Control Unit Year of acquisition: 2012 Brief description: ACCU was developed with two goals in mind: Flexibility and possibility to operate in off-the-shelf hardware. Using the existing IMCJava API from LSTS and based on the Android operating system it was possible to rapidly develop a stable application that improved significantly our operation scenarios. Location: Universidade do Porto – Faculdade de Engenharia Webpage: http://lsts.fe.up.pt/software/accu

3. Designation: IMC - Inter-Module Communications Protocol Year of acquisition: 2010 Brief description: IMC is used for communication between all our vehicles, sensors and consoles (including portable handheld consoles). IMC protocol is a message-oriented protocol designed and implemented in the LSTS to build interconnected systems of vehicles, sensors and human operators that are able to pursue common goals cooperatively by exchanging real-time information about the environment and updated objectives. Location: Universidade do Porto – Faculdade de Engenharia Webpage: http://lsts.fe.up.pt/software/imc

4. Designation: DUNE - Unified Navigation Environment Year of acquisition: 2010 Brief description:

Brief description: DUNE is the runtime environment for vehicle on-board software. DUNE is the on-board software running on the vehicle, which is responsible not only for every interaction with sensors, payload and actuators, but also for communications, navigation, control, maneuvering, plan execution and vehicle supervision. It is CPU architecture independent (Intel x86 or compatible, Sun SPARC, ARM, PowerPC and MIPS) as well as operating system independent. Location: Universidade do Porto – Faculdade de Engenharia Webpage: http://lsts.fe.up.pt/software/dune

5. Designation: NEPTUS Command and Control Software Year of acquisition: 2009 Brief description: Neptus is the C2 (Command and Control) software used to command and monitor our unmanned systems. It is written in Java and it currently run in Linux and Microsoft Windows operating systems. Neptus has been developed and thouroughly tested by LSTS for commanding and controlling fleets of unmanned vehicles. Neptus supports AUVs, UAVs, ROVs, ASVs and different types of non-actuated sensors Location: Universidade do Porto – Faculdade de Engenharia Webpage: http://lsts.fe.up.pt/software/neptus

H - Pilot Plants / I - Laboratory Prototypes

1. Title: VEC – Electrical Vehicle for Competition

Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Armando Araújo Several prototypes under development in the scope the several projects running

2. Title: Autonomous Underwater Vehicles. It encompasses several types of vehicles - LAUV,

NAUV, etc. – that, although operational are also under further improvement in the scope of several national and international research contracts. For details: www.fe.up.pt/~lsts Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Several prototypes under development in the scope the several projects running

3. Title: Remotely Underwater Vehicles – For details: www.fe.up.pt/~lsts

Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa

4. Title: Autonomous Surface Vehicles - Swordfish Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa

5. Title: Unmanned Air Vehicles. It encompasses several types of vehicles that, although operational are also under further improvement in the scope of several national and international research contracts. For details: www.fe.up.pt/~lsts Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa

6. Title: ROV – Remotely Operated Vehicle Year of acquisition: 2010; Demonstrable at: FEUP

Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/rov

7. Title: LAUV – Light Autonomous Underwater Vehicle

Year of acquisition: 2010; Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: https://lsts.fe.up.pt/vehicles/lauv

8. Title: Manta - Communications Gateway Year of acquisition: 2010; Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/manta

9. Title: CULARIS - Micro-UAV COT Vehicle Year of acquisition: 2011; Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/cularis

10. Title: PILATUS - Medium size UAV COT Vehicle

Year of acquisition: 2010; Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/pilatus

11. Designation: Wavy Drifter Buoy

Year of acquisition: 2013 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/wavy

12. Title: X8 - Delta-Wing UAV COTS Vehicle

Year of acquisition: 2012 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: João Tasso Borges de Sousa Webpage: http://lsts.fe.up.pt/vehicles/x8

13. Title: Conversor dc/dc e controlador de ligação à rede de um painel fotovoltaico de 250 W, com

controlo MPPT e possibilidade de interligação no mesmo ponto de diversos painéis; Year of acquisition: 2012 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

14. Title: Conversor trifásico "back-to-back" para incorporar em sistemas eólicos de produção de energia, e sistema de controlo para interligação à rede elétrica; Year of acquisition: 2012 Demonstrable at: FEUP

Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

15. Title: Modelo de baterias de iões de Li, executável em tempo real, com extração de parâmetros do modelo, incorporando caraterísticas de envelhecimento das mesmas; Year of acquisition: 2012 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

16. Title: Sistema de balanceamento ativo do estado de carga dos elementos de uma bateria de

iões de Li, com trocas de corrente até 8A. Year of acquisition: 2013 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

17. Title: Controlador de tração elétrica de um motor PMSM, potência nominal 35 kW, dinâmica de

80 kW (12 s). Year of acquisition: 2013 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

18. Medidor inteligente da potência ativa e reativa de consumo de uma instalação, com

comunicação "wireless". Year of acquisition: 2013 Demonstrable at: FEUP Accrediting entity: FEUP Responsible: Adriano da Silva de Carvalho

J – Patents

Patent of a product submitted: controller of H2 consumption optimization in electrical generation systems. Patent reference pending. L - Others

In this item concerns a substantial number of initiatives that are gathered here in order to reveal the impact in the research described in the beginning of this text. These activities provide not only complementary funding but also promote networking with the desired intensity as well as the internationalization underlying the competitiveness to keep up with the state-of-the-art in the various fronts in which this project is involved. L.1 Major Research Contracts active in the reporting period

1. Project Title: NOPTILUS - autoNomous, self-Learning, OPTImal and compLete Underwater

Systems Reference code: FP7 - 270180 Research team: Fernando Lobo Pereira, José Queirós, João Pereira, Margarida Faria, Paulo Dias, Vinayak Prabhu, Luis Madureira, Alexandre Sousa Funding: European Commission, FP7 Period of execution: 04/11–03/15 Webpage: www.noptilus-fp7.eu

2. Project title: SADCO - Sensitivity Analysis for Deterministic Controller Design

Reference code: SADCO, 264735, Funding: FP7- PEOPLE-2010-ITN, Period of execution: Jan 2011-Dez 2014, Research team of FEUP: Maria do Rosário de Pinho (PI), F Fontes and MM Ferreira (FEUP), D Torres (U. Aveiro). Additional Staff: Paula Rocha Malonek and F Lobo Pereira (FEUP), Sofia Oliveira Lopes and G Smirnov (UMinho), D Fontes (FEP). Webpage: itn-sadco.inria.fr

3. Title: iLAND -mIddLewAre for deterministic dynamically reconfigurable NetworkeD embedded systems Funding: European Commission, FP7 Reference: FP7-ICT-214373 Research team: Luis Almeida (PI), Paulo Portugal, Mário Sousa, Pedro Souto Period: 01/08-12/11

4. Project Title: ArtistDesign: Network of Excellence on Embedded Systems Design Reference code: FP7-ICT-214373 Funding Programme: 7º Programa-Quadro de IDT Research team: Luis Almeida (PI), Paulo Portugal, Mário Sousa, Pedro Souto Period of execution: 01/08-12/11 Webpage: http://www.artist-embedded.org/

5. Project Title: I-RAMP3 - Intelligent Reconfigurable Machines for Smart Plug&Produce

Production. Reference code: FP7-2012-NMP-ICT-FoF/314329 Coordinator: HARMS & WENDE GMBH & CO KG FEUP Research team: Fernando Lobo Pereira (IP), Gil Gonçalves, João Reis Funding Programme: FP7 Period of execution: 10/12-09/15 Webpage: cordis.europa.eu/search/index.cfm?fuseaction=proj.document&PJ_RCN=13049338

6. Project Title: DIGITAL OCEAN - Integrated multimedia mixed reality system, of real time virtual diving, by web teleoperated underwater data collecting robots, diffused online and through a network of submersible simulation devices. Reference code: FP7-262160 Research team: Fernando Lobo Pereira, João Pereira, Hugo Dias, Jorge Neiva, José Correia, Ricardo Silva, Luis Madureira, Alexandre Sousa Funding: European Commission, FP7 Period of execution: 01/11–12/12 Webpage: www.digitalocean.eu

7. Project Title: NETMAR - Networked systems for situational awareness and intervention in

maritime incidents Reference code: NETMAR Research team: Fernando Lobo Pereira, Pedro Ribeiro, José Braga, Hugo Queirós Funding Programme: Atlantic Area Period of execution: 03/12-03/14 Webpage: www.project-netmar.eu

8. Project Title: CON4COORD (C4C) - Control for Coordination of Distributed Systems Reference code: FP7-ICT-223844 Research team: Fernando Lobo Pereira, José Queirós, Paulo Lopes, Paulo Dias, Vinayak Prabhu, Luis Madureira, Alexandre Sousa Funding: European Commission, FP7 Period of execution: 05/08-04/11

Webpage: www.c4c-project.eu

9. Project Title: COVMAPS - Covering mappings and their applications in functional equations, difference equations and optimization Reference code: 301177 Research team: Fernando Lobo Pereira (PI), Sergey Zhukowskyi Funding: European Commission, Marie Curie-ITN, 7º FP Period of execution: 05/12-05/14

10. Project Title: XPRESS - Flexible production experts for reconfigurable assembly technology

Reference code: FP6 - NMP2-CT-2006-026674 Research team: Fernando Lobo Pereira, Gil Gonçalves, Paulo Dias, Joel Cardoso, Ricardo Martins Funding Programme: FP6 Period of execution: 01/07-05/11 Webpage: www.xpress-project.eu

11. Project Title: RAIA - Observatório Oceánico del Margen Ibérico

Reference code: 0313_RAIA_1_E Research team: Fernando Lobo Pereira, Ricardo Martins, Bruno Loureiro, Funding Programme: POCTEP Period of execution: 03/09–12/11 Webpage: www.observatorioraia.org

12. Project Title: RAIA_CO - Marine and coastal observatory of Iberian Margin

Reference code: 0520_RAIA_CO1E Research team: Fernando Lobo Pereira, Ricardo Martins, Bruno Loureiro, Funding Programme: POCTEP Period of execution: 01/11–12/13 Webpage: www.observatorioraia.org

13. Project Title: SAFEPORT: Sistema de apoio à decisão para defesa portuária

Reference code: SAFEPORT Research team: João Borges de Sousa (PI), Paulo Sousa Dias, Ricardo Martins, António Sérgio Ferreira Funding: NATO Period of execution: 04/2013 - 12/2015 Webpage: https://sigarra.up.pt/ant/feup/PROJECTOS_GERAL.MOSTRA_PROJECTO?P_ID=2137

14. Project Title: NECSAVE - Network Enabled Cooperation System of Autonomous Vehicles

Reference code: NECSAVE Research team: João Tasso de Figueiredo Borges de Sousa (PI), Paulo Sousa Dias, Ricardo Martins, Tiago Santos Funding: Internacional - EDA Period of execution: 04/2013 - 04/2016 Webpage: http://lsts.fe.up.pt/about/projects

15. Project Title: BLUEEYE - Sistema de Suporte às Operações Marítimas Reference code: SI IDT - 21607/2011 Research team: João Tasso de Figueiredo Borges de Sousa (PI), Paulo Dias Funding: Agência de Inovação, S.A. Period of execution: 04/2011 - 04/2013 Webpage: http://projectos.adi.pt/actions/project?id=C16/2011/21607&search=global&actionbean=actions/project

16. Project Title: SUNRISE - Sensing, monitoring and actuating on the UNderwater world through a federated Research InfraStructure Extending the Future Internet Reference code: 611449 Research team: João Tasso de Figueiredo Borges de Sousa (PI) Funding: European Commission, FP7 Period of execution: 09/2013 - Webpage: http://fp7-sunrise.eu/

17. Project Title: SEAGULL - Sistemas Inteligentes de Suporte ao Conhecimento Situacional Baseados em Veículos Aéreos Não Tripulados Reference code: 34063 Research team: João Tasso de Figueiredo Borges de Sousa (PI) Funding: QREN Period of execution: 07/2013 - 07/2015

18. Project Title: REBORN - innovative Reuse of modular knowledge Based devices and technologies for Old, Renewed and New factories Reference code: REBORN Research team: Gil Gonçalves (PI), João Correia Reis, Fernando Lobo Pereira Funding: European Commission, FP7 Period of execution: 2013 Webpage: http://www.criticalmanufacturing.com/rd/ReBorn

19. Project Title: SELSUS - Health Monitoring and Life-Long Capability Management for SELf-SUStaining Manufacturing Systems Reference code: 609382 Research team: Gil Gonçalves (PI), Fernando Lobo Pereira, João Correia Reis Funding: European Commission, FP7 Period of execution: 2013 - 2016 Webpage:

20. Project Title: SINGULAR - Smart and Sustainable Insular Electricity Grids Under Large-Scale Renewable Integration Reference code: 59845 Research team: Adriano Silva Carvalho (PI) Funding: European Commission, FP7 ENERGY Period of execution: 2013 - 2016 Webpage: http://setis.ec.europa.eu/energy-research/project/smart-and-sustainable-insular-electricity-grids-under-large-scale-renewable-integration

21. Project Title: Advanced control of a fleet of heterogeneous autonomous vehicles

Reference code: FEUP Research team: Fernando Lobo Pereira (PI), João Tasso Borges de Sousa, Fernando Arménio Fontes Funding: Bilateral Cooperation Program FCT and ANR (France) Teams: FEUP, SUPELEC Period of execution: 2013 – 2014

22. Project Title: Controle para a Optimização de Recursos na Exploração Agrícola Reference code: FEUP Research team: Fernando Lobo Pereira (PI), Maria do Rosário Pinho, Maria Margarida Ferreira, Fernando Arménio Fontes Funding: Bilateral Cooperation Program UP - USP (Brazil) Teams: FEUP, USP Period of execution: 2012 - 2015

23. Project Title: PERSISTE - Modeling and control of Networked vehicle systems in persistent autonomous operations Reference code: PTDC/EEA-CRO/104901 Research team: Fernando Lobo Pereira, Eduardo Marques, Gil Gonçalves, José Pinto, Sujit Baliyarasimhuni, João Pereira, Renato Caldas Funding Programme: FCT Period of execution: 06/10–06/13

24. Title: Serv-CPS: Server-based Real-Time Ethernet Communication Architecture for Cyber-

Physical Systems Funding: National Foundation for Science and Technology (FCT) Reference: PTDC/EEA-AUT/122362/2010 Research team: Paulo Portugal (PI), Mário Sousa, Luís Almeida. Period: 2012-2015

25. Title: DHT-Mesh: DHT-based services for increasing the Scalability of Highly available Wireless

Mesh Networks Funding: National Foundation for Science and Technology (FCT) Reference: PTDC/EEA-TEL/104185/2008 Research team: Luís Almeida (PI), Paulo Portugal, Mário Sousa. Period: 2010-2013

26. Title: NETVEHICLE Funding: National Foundation for Science and Technology (FCT) Reference: PTDC/EEA-ACR/75242/2006 Research team: Fernando Lobo Pereira (PI), João Sousa, Gil Gonçalves Period: 2008-2011

27. Project title: OCHERA- Optimal Control: Health, Energy and Robotics Applications Reference code: PTDC/EEI-AUT/1450/2012. Funding: National Foundation for Science and Technology (FCT) Research team: Maria Margarida Ferreira (PI), Rosário Pinho, Fernando Fontes, Fernando Pereira. Period of execution: Jan 2013-Dec 2015,

28. Project title: Evolutionary algorithms for Decision Problems in Management Science

Reference code: PTDC/EGE-GES/099741/2008, Funding: National Foundation for Science and Technology (FCT) Period of execution: 2010-Dec 2012, Team of researchers: D. Fontes(PI), António Gaspar-Cunha, Carlos Soares, F. Fontes, Jorge Valente, Rosário Moreira, Rui Alves.

29. Project title: Perception-Driven Coordinated Multi-Robot Motion Control

Reference code: PTDC/EEA-CRO/100692/2008, FCT Funding: National Foundation for Science and Technology (FCT) Period of execution: Jan 2010-Dec 2012 Team of researchers: Pedro Lima (PI), Aamir Ahmad, António Paulo Moreira, Amélia Caldeira, F. Fontes, Tiago Nascimento, Paulo Costa, Luis Almeida.

30. Project title: Optimal Control for Constrained Hybrid Systems

Reference code: PTDC/EEA-CRO/116014/2009, Funding: National Foundation for Science and Technology (FCT) Period of execution: Jan 2010-Jan 2013, Research Team: F Fontes(PI), Sofia Oliveira Lopes, Fernando Lobo Pereira, Dmitry Karamzin, MM Fereira, Maria do Rosário de Pinho, Amélia Caldeira, Haider Biswas. Webpage: www.fe.up.pt/~faf/ProjectFCT2009

31. Project title: DAEDALUS-Design, implementation and flight testing of advanced control and coordination techniques for unmanned aircraft Reference code: PTDC/EEA-ELC/122203/2010, Funding: National Foundation for Science and Technology (FCT) Period of execution: Jan. 2012-Dez 2014, Research Team: Maria do Rosário de Pinho (PI), Elói T.Pereira (AFA), Fernando Lobo Pereira (FEUP), Gonçalo Charters Cruz (AFA), Maria Madruga Alves (AFA), Sujit . Baliyarasimhuni (FEUP), Tiago Monteiro de Oliveira (AFA).

32. Project Title: MICROGERAÇÃO “Aproveitar a MicroGeração Acrescentando Valor à Energia Produzida e Qualidade de Serviço à Rede Eléctrica”. Reference code: PTDC/EEA-EEL/109114/2008 Research team: Adriano Carvalho (PI), António Martins, Carlos Ramos, Maria Teresa Outeiro, Paulo Costa, 2 bolseiros Funding Programme: 190.000,00 Euros FCT Period of execution: Set/2010, Agos/2013

33. Project Title: ASSESSMENT AND DEVELOPMENT OF INTEGRATED SYSTEMS FOR ELECTRIC

VEHICLES. Reference code: MIT-Pt/EDAM-SMS/0030/2008 Funding: FCT - Fundação para a Ciência e Tecnologia Research team: Adriano Carvalho(PI), António Martins, Carlos Ramos, Maria Teresa Outeiro, Armando Araújo, 1 bolseiro Period of execution: 2009-2013 External partners: U Minho, UTL/IST Webpage: http://sigarra.up.pt/ant/feup/projectos_geral.mostra_projecto?p_id=1367

34. Project Title: PITVANT - Programa de investigação e tecnologia em veículos aéreos não

tripulados Reference code: PITVANT Research team: Fernando Lobo Pereira, Joel Cardoso, Ricardo Bencatel, Ricardo Gomes, Ricardo Martins, António Ferreira, Pedro Calado, José Braga Funding Programme: MDN Period of execution: 12/08–11/15 Webpage: http://www.academiafa.edu.pt/index.php?bd0b6f49=011.005.004&lang=PT

35. Project Title: XTREME - LAUV versão Extreme

Reference code: SI IDT-3493/2008 Research team: Fernando Lobo Pereira, Alexandre Sousa, Luis Madureira, Ricardo Martins Funding Programme: ADI Period of execution: 02/09–02/12 Webpage: lsts.fe.up.pt/xtreme

36. Project Title: TICE.HEALTHY - Sistemas de Saúde e Qualidade de Vida

Reference code: SI IDT - 13842/2011 Research team: Fernando Lobo Pereira, Gil Gonçalves, José Correia, Ricardo Silva Funding Programme: COMPETE - ADI Period of execution: 01/11-12/13 Webpage: www.tice.pt/projectos/projecto.aspx?contentID=18

37. Title: I9SOURCE

Funding: ADI Reference: . SI IDT - 5475/2008 Research team: Fernando Lobo Pereira (PI), João Sousa, Gil Gonçalves Period: 2009-2011

38. Project Title: EVE – Electric Vehicle Enhacement

Reference code: SI IDT - 21619/2011 Funding: Agência de Inovação, S.A Research team: Adriano Silva Carvalho (PI), Anishur Rahman, Tiago Oliveira Bastos Pinto Sá Period of execution: 2011-2013 External partners: Caetano Bus, EFACEC, INEGI Webpage: http://sigarra.up.pt/ant/feup/projectos_geral.mostra_projecto?P_ID=2095

39. Project Title: MOBICAR - Concepção, desenvolvimento, teste e demonstração de soluções de mobilidade sustentável Reference code: SI IDT - 13844/2010 Funding: Agência de Inovação, S.A. Research team: Adriano Carvalho (PI), Armando Araújo, António Pina Martins, Carlos Ramos, Armindo Lage Period of execution: 2010-2013 Webpage: http://sigarra.up.pt/ant/feup/projectos_geral.mostra_projecto?P_ID=2078

40. Project Title: Pesquisa do potencial de exploração de fontes alternativas para a geração de

energia eléctrica na área de concessão da AMPLA Reference code: AMPLA, Funding: ANEEL (Brazil), Period of execution: Jan 2011-Dec 2011 Research Team: Cláudio Monteiro (PI).

41. Project Title: Comparative assessment of meteo forecast methods for wind energy

Reference code: NWPpe, Funding: Universidade de Aveiro, CENER (Spain), Magajoule, Smartwatt e Ventinvest, Period of execution: Jan 2011-Dec 2011 Research Team: Cláudio Monteiro (PI).

42. Project Title: Plano de Eficiência Energética na Universidade do Porto

Reference code: PE3UP, Funding: Ministry of Industry, Period of execution: Sept 2010-Dec 2011 Research Team: Cláudio Monteiro (PI).

L.2 Industry research contract

Although funded by research programs, the following projects also involved “industry research contracts” with companies in the sense that they had co-funded the activities: Through the project C4C:

• HNN - Hess Noord Natie, Antwerp, Belgium

• OMST - OCEANSCAN - Marine System & Technology, Lda, PT

• OCE - Oce Company, Venlo, NL

• Through the project NOPTILUS:


• APDL – Administração dos Portos do Douro e Leixões, SA Through the project DIGITAL OCEAN:


• VirtualDive SAS, France

• MediaTouch 2000 srl, Italy

• LudoCraft Oy, Finland

Through the HFM-170 NATO workgroup:

• Ball Industries (USA)

• TNO (NL) Interactions has also been exploited with:

• Academia da Força Aérea, PT

• ARES Lab @ MIT, USA

• CIIMAR – Centro Interdisciplinar de Investigação Marinha e Ambiental

• Marinha Portuguesa, PT

• Ministry of Defense, PT

• Ministry of Defense, UK

• PATH Laboratory, UCB, USA

• Swedish Defense Research Agency, FOI, Sweden

• WHOI, USA

L.3 Review of Scientific Articles (International Journals and major conferences)

Journals

• Applied Mathematics & Optimization

• Applied Mathematics Letters

• Automatica

• Computational and Applied Mathematics

• Control Engineering Practice

• European Journal of Control (EJC),

• European Power Electronics Journal

• IEEE Control Systems Magazine

• IEEE Robotics Magazine

• IEEE Transactions on Automatic Control.

• IEEE Transactions on Automation Science and Engineering

• IEEE Transactions on Control and Automation

• IEEE Transactions on Control Systems and Technology.

• IEEE Transactions on Education

• IEEE Transactions on Industrial Electronics

• IEEE Transactions on Power Electronics

• IET Control & Theory Applications

• IMA Journal of Mathematical Control

• International Journal of Adaptive Control and Signal Processing (Wiley)

• International Journal of Electrical Power and Energy Systems

• International Journal of Energy Optimization and Engineering (IJEOE). http://www.igi-global.com/bookstore/titledetails.aspx?titleid=47187&detailstype=reviewboard

• International Journal of Energy Research, John Wiley & Sons, Ltd. http://www3.interscience.wiley.com/journal/3343/home

• International Journal of Engineering Mathematics

• Indian Journal of Mathematics/Bulletin of the Allahabad Mathematical Society International Journal of Systems Science,

• International Journal of Zhejiang University Science C (Computers & Electronics) Springer, http://www.editorialmanager.com/zusc/

• Journal of Advanced Research in Fuzzy & Uncertain Systems

• Journal of Computers and Mathematics with Applications (Elsevier),

• Journal of Dynamic Control Systems (JDCS),

• Journal of Global Optimization

• Journal of Intelligent and Robotic Systems

• Journal of Optimization Theory and Control

• Journal of Process Control

• Journal of the Taiwan Institute of Chemical Engineers, Elsevier, http://ees.elsevier.com/jtice/default.asp

• Journal Optimization Theory Applications

• Nonlinear Analysis Series A: Theory, Methods & Applications, Elsevier,

• Nonlinear Analysis: Hybrid Systems,

• Ocean Dynamics,

• Optimization Theory and Control

• Optimization, Taylor & Francis,

• Pacific Journal of Optimization

• SIAM Journal of Control and Optimization Conferences

• Eurocon 2011 & Conftele 2011

• 19th Mediterranean Conference on Control and Automation (MED11)

• 2012 ACC American Control Conference

• 16th IFAC Symposium on System Identification (SYSID 2012)

• 2012 CDC Control and Decision Conference

• Sysid 2012, 16th IFAC Symposium on System Identification

• 2013 ACC American Control Conference

• ECC13 - 12th European Control Conference

• Conference on Design of Circuits and Integrated Systems (DCIS 2011)

• 9th International Conference on Power Electronics and Drive Systems (PEDS'2011)

• 20th IEEE International Symposium on Industrial Electronics (ISIE'2011)

• IEEE Energy Conversion Congress and Exposition (ECCE'2011)

• 20th IEEE International Symposium on Industrial Electronics (ISIE'11)

• 50th IEEE CDC, Orlando, Florida, Dec 2011

• IFAC 18th World Congress 2011, Milano, Italy, Sept 2011.

• IEEE Multi-conference on Systems and Control, Denver, CO, USA, Sept 2011

• 5th Intl Scientific Conf Physics and Control, Leon, Spain, Sept, 2011

• IEEE/RJS Intl Conf Intelligent Robots and Systems, 2011

• American Control Conference, Montréal, Canada, June 2012

• IEEE Intl Conf Robotics & Automation, St. Paul, Minnesota, May 2012

• 15th IFAC Workshop on Control Applications of Optimization, Rimini, Italy, 13-16 Sept 2012.

• MCMC 2012, Arenzano, Italy.

• IROS 2012, Vila Moura, Portugal

• Museo Elder de la Ciencia y la Tecnología, Las Palmas de Gran Canaria Canary Islands, Spain, February 10-15, 2013, http://www.iuctc.ulpgc.es/spain/eurocast2013

• First Meeting SET-199 "Evaluating the Effectiveness of Coordination Methods for Distributed Mobile Sensors", CSO, Neuilly Sur Seine, France, March 19-21, 2013, http://www.cso.nato.int/ACTIVITY_META.asp?ACT=2322

• 2013 World Conference on Information Systems and Technologies (WorldCIST'13), Algarve, Portugal, March 27-30, 2013, http://www.aisti.eu/worldcist13ACM/IEEE 4th International Conference on Cyber-Physical Systems (ICCPS2013), Philadelphia, USA, April 8-11, 2013, http://iccps.acm.org/2013/

• Hybrid Systems: Computation and Control (HSCC 2013), Philadelphia, USA, April 8-11, 2013, http://2013.hscc-conference.org/

• OCEAN BUSINESS 2013 - OS2013, National Oceanography Centre, Southampton, UK April 9-11, 2013, http://www.oceanbusiness.com

• The Cape Verde International Days on Mathematics 2013 (CVIM'2013), University of Cape Verde, Cape Verde, April 22-25, 2013, https://sites.google.com/site/cvim2013

• 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013, http://www.icra2013.org

• OC2013 - Oceans Challenges and Opportunities, APDL - Administração dos Portos do Douro e Leixões, Lda, Leça da Palmeira, Portugal, May 13 - 17, 2013, http://oc2013.fe.up.pt

• 2013 Workshop on European Unmanned Maritime Systems, Royal Military Academy Brussels, Belgium, May 28-29, 2013,

http://www.tecnologiaeinnovacion.defensa.gob.es/Lists/Eventos/Attachments/87/2013%2004%2029%20Agenda.pdf

• Desafios Oil & Gas no Brazil - O sistema científico e tecnológico Português, Rio de Janeiro, Brazil, June 6, 2013, http://www.galpenergiaBrazil2013.com

• OCEANS13 MTS IEEE BERGEN, 10-13 June 2013, Bergen

• MED 2013 - 21st Mediterranean Conference on Control and Automation. IEEE, June 25 - 28, 2013, Platanias-Chania, Crete – GREECE

• HCI International 2013, 21 - 26 July 2013, Mirage Hotel, Las Vegas, Nevada, USA

• ICCOPT 2013, The Fourth International Conference on Continuous Optimization, will take place in Lisbon, Portugal, from July 27 to August 1, 2013, on the campus of the Faculdade de Ciências e Tecnologia, Universidade Nova de Lisboa.

• ARCOPOL Plus – Workshop – “Opportunities for the deployment of AUVs, UAVs and marine sensors for detecting and managing threats from HNS in the marine environment”. 4th September 2013, National Maritime College of Ireland

• Summer school and workshop on optimal and model predictive control - OMPC 2013, 9-13 September. 2013, Bayreuth, Germany

• OCEANS ’13 MTS/IEEE San Diego 23-26 September, 2013

• BTS2013 - Breaking the surface, September 30th – October 6th 2013 Murter, Croácia

• International Marine Protected Areas Congress, October 21st – 27th 2013, Marseille and Corsica

• GPC 2013 Kolmogorov readings – VI General Control Problems and their Applications, October 7-11, 2013, Tambov State University, Russia, dedicated to the 110th anniversary of academician A.N. Kolmogorov.

• DINCON 2013, 13-17 October 2013, Fortaleza Brazil

• XV Congresso da Associação Latino-Iberoamericana de Gestão de Tecnologia, ALTEC Políticas e Gestão de Ciência e Tecnologia nos espaços Latino-Iberoamericanos Alfândega do Porto, October 28 2013, Porto

• SmartOcean Forum, 5-6 of November 2013 Belfast

• Festival IN: Inovação e Criatividade - Feira Internacional de Lisboa, November 15-17, 2013, Lisbon, Portugal

• 2nd RED-UAS 2013 Workshop on Research, Education and Development of Unmanned Aerial Systems, 20-22 November, 2013, Compiegne, France

• Workshop on Optimization-based Control and Estimation - A joint meeting of PHC projects: AURORA, BRANCUSI, RILA and PESSOA, 21-22 November 2013, SUPELEC, Gif sur Yvette, France

• MCT - Mathematical Control in Trieste December 2-3 2013

• Lisbon Atlantic Conference 2013, December 4-5, 2013, Lisbon, Portugal

• ECC 2013, July 17-19, 2013, Zurich, Switzerland.

• ENERAGRO - Energias Renováveis na Agricultura e Pecuária, Santarém, Portugal, 5 December 2013

• 52nd IEEE Conference on Decision and Control - CDC2013, 10-13 December, 2013 at Palazzo dei Congressi, Florence, Italy

• ACC 2014

• IFAC World Congress 2014

L4. Journal Editorial Boards

• Maria do Rosário de Pinho is guest editor of the “special issue” Nonlinear Systems: Asymptotic Methods, Stability, Chaos, Control, and Optimization in Mathematical Problems in Engineering, Theory, Methods and Applications.

• Maria do Rosário de Pinho, Fernando Lobo Pereira are members of the editorial board da Mathematical Problems in Engineering, Theory, Methods and Applications

• http://www.hindawi.com/journals/mpe/editors/

• Maria do Rosário de Pinho is an Editor of Computational and Applied Mathematics (Springer).

• Adriano de Carvalho is member of the Editorial Board of the International Journal of Hydrogen Energy, Elsevier, http://ees.elsevier.com/he/

• Fernando Lobo Pereira, is editor of the journal TEMA - Trends in Applied and Computational Mathematics since July 2013.

L.5 Internationalization

• Paulo Lopes dos Santos has maintaining research collaboration with José A. Ramos, Nova Nova Southeastern University, USA, Daniel Rivera, Arizona State University, USA, Carlo Novara, Instituto Politecnico di Torino, Italy, Marco Lovera, Instituto Politécnico di Milano, Italy e Gerhard Jank, RWTH Aachen, Germany.

• Paulo Lopes dos Santos is a member of the IEEE CST Technical Committee on Systems Identification and Adaptive Control

• Paulo Lopes dos Santos is a member of the IFAC Technical Committee on Systems Identification and Signal Processing.

• Research Networking within the SADCO, 264735, FP7-PEOPLE-2010-ITN. The following U Porto researchers participated in management activities of the project “Sensitivity Analysis for Deterministic Controller Design, SADCO, 264735, FP7-PEOPLE-2010-ITN”: MM Ferreira, F Fontes and MdR de Pinho (team coordinator). Igor Kornienko (PhD student) and MdR de Pinho are members of the Direction of SADCO. Participation in all Direction meetings: Paris (March), London (September)

• Informal contacts have been established during this year: Face-to-face small meetings for technical interchange with end-users, tools and technology developers and communities focused on maritime issues – meetings took place during the following conferences and exhibits: IEEE OCEANS Bergen (June 2013), IEEE OCEANS San Diego (September 2013), and Ocean Business Southampton (April 2013)

• Prof. Francisco Gavillan from the University of Seville for the development and implementation of algorithms in MPC-board computers (September 2013).

• Prof. Aram Arutyunov from Moscow State University and from People’s Friendship University of Russia visited FEUP for 3 months in November 2011, 2012 and 2013 for research cooperation I the fields of Optimization Theory and Optimal Control Theory.

• Prof. Johansson Tor Arne, and Thor Fossen from the National Technical University, Norway for preliminary discussion on collaborations in the area of control of multiple heterogeneous vehicles, Feb 2013.

• Dr. Kanna Rajan from the Monterey Bay Aquarium Research Institute, United States, for the discussion of deliberative planning techniques for multiple autonomous vehicles (May 2013).

• Dr. Kanna Rajan and Dr. Frederic Pi from the Monterey Bay Aquarium Research Institute, United States, for the participation in the REP13 exercise (July 2013).

• Prof. Sorin Olaru, and Prof. Cristina Stoica from SUPELEC for cooperation in the fields of optimization and Control with emphasis on MPC schemes, July 8-12, 2013

• Three collaborators of Prof. Johansson and Prof. Tor. Thor Fossen National Technical University of Norway for training in the LSTS’ tool chain software (October 2013).

• Dr. Kanna Rajan from the Monterey Bay Aquarium Research Institute, USA, for discussions on board deliberative planning subject to multiple timing constraints (November 2013).

Other participation in scientific events in 2011, 2012, and 2013

• European Conference on Power Electronics and Applications, EPE’11, 30 August-1 September 2011, Birmingham, United Kingdom.

• International Conference on Power Engineering, Energy and Electrical Drives, POWERENG’11, 11-13 May, 2011, Malaga, Spain.

• ICT EU FP7 research project C4C – Coordination for Control of Distributed Systems: 10th Project Meeting, FEUP, 4-5 July 2011, Portugal; and 9th Project Meeting, University of Verona, 21-23 March 2011, Italy

• Meetings and workshops with demonstrations of the NETMAR project in 2012 and 2013 in Ireland, France, Spain and Porto

• Four NOPTILUS Project technical and management meetings in Porto, and Greece

• Research project SCIROB: Meeting at European Commission, Brussels, Belgium, 24 March 2011

• IP EU FP6 Research Project XPRESS : Flexible Production Experts for Reconfigurable Assembly Technology: Status Colloquium of XPRESS, Stuttgart, Germany, 03-04 May 2011

• Research project DIGITAL OCEAN: European Commission, Brussels, Belgium

• Moscow State University, Prof. A. Arutyunov, Prof. V. Tikhomirov, Moscow, Russia, 21-28 Aug 2011, September 2012.

A sample of visitors with associated scientific talks and meetings in 2011, 2012 and 2013

• A Lazaro, Tech Univ Catalunia, Spain, 07-08/03/12

• P Chen, Fac Science and Tech, Univ Macau, 22/03/12

• M Cabrito, NOC, Southampton, 08-13/04/12

• R Sengupta, UCB, California, 13-22/05/12

• F Py, MBARI, Monterey, USA, 22-25/05/11

• T Shima, Fac Aerospace Eng, IIT, Israel, 22-25/05/11

• J Van Schuppen, CWI, Amsterdam, 03-08/07/11

• A Konstantellos, EC, Deputy Head of Unit, INFSO, Belgium, 05-07/07/11

• P Varaiya, UCB, California, 05-10/07/11

• A Bensoussan, Univ Texas at Dallas, USA 05-08/07/11

• P McGillivary, U.S. Coast Guard, USA, 11-15/09/12

• F Chavez, MBARI, Monterey, USA, 12-15/10/12

• A Healey, NPS, Monterrey, USA, 16/09-15/11+12

• Ydreams.com, Lisbon, 21/11/12

• Hugo Palma, UBI, 23/11/12

• A T W. McLain, BYU, Utah, USA, 28-30/11/11

• Vilma Oliveira, Eduardo Costa, USP, July and August, 2012

• Manuel Araña, Cadiz University, Feb 6-8, 2013

• S Olaru, P. Boucher, I. Prodan, Supelec, France, 12/12 and 10/13

• M Hagstrom, Swedish Defense Research Agency, 09-10/12/12

• Thor Fossen and Tor Arne, from NTNU and AMOS, Trondheim, Norway, 03/13

• Eduardo Camacho, from University of Seville, 27-29 June 2012 Participation in research and training networks of excellence:

• CONET – NoE -Cooperating Objects Network of Excellence, EU - ICT, FP7

• EURON - Robotics Network of Excellence, EU - ICT, FP7

• SADCO – MC – ITN, EU – ICT, FP7

Cooperative research activities in has been maintained with the following Universities:

• ETH-Eidgenössische Technische Hochschule Zürich, Swiss (autonomous systems)

• Fac de Eng Mecânica, Univ Estadual de Campinas, SP, Brasil (robotics)

• IBILCE, Univ Estadual Paulista, S. J. Rio Preto, SP, Brasil (impulsive control)

• Imperial College of London, UK (optimal control)

• Moscow State Univ, Moscow, Russia (dynamic optimization)

• People Friendship Univ of Russia, Moscow, Russia (optimal control)

• Royal Institute of Technology, Sweden (hybrid control, networked systems)

• Salzburg University, Austria (real-time communications)

• Technische Universiteit Delft, Netherlands (autonomous systems)

• Telecommunication Systems Res Inst, Greece (underwater comms)

• UCB - University of California at Berkeley, Berkeley, CA, USA (hybrid systems, AVs, networked control)

• University of Michigan, Ann Arbor, Michigan, USA (autonomous vehicles)

Cooperative research activities in has been maintained with, among others, the following Research Centers and Institutes:

• Air Force Research Laboratory, Wright-Patterson Air Force Base, Dayton, USA

• ASL - Autonomous Systems Lab, ETHZ, Swiss (autonomous control)

• CITRIS - University of California, CA, USA (hybrid systems, networked systems, AV)

• DES Center - Dependable Embedded Systems Center, Wien (comms, computation)

• Fraunhofer Institute for Systems and Innovation Research ISI, Germany (network centric systems)

• Institute for Dynamic Systems and Control Theory, Irkutsk, Russia (optimal control algorithms)

• NPS - Naval Postgraduate School, Monterey, CA, USA (AUVs systems)

• NURC - NATO Undersea Research Centre, La Spezia, Italy (acoustic comms, delay/DTN)

• NUWC - Naval Undersea Warfare Center, Newport, USA (underwater systems and techs) L.6 Research consultancy

• Paulo Lopes dos Santos – member of the Technical Committee “System Identification and Adaptive Control Technical Committee” of the IEEE CST

• Paulo Lopes dos Santos - member of the Technical Committee “System Identification and Signal Processing Technical Committee” of IFAC

• Fernando Lobo Pereira - member of the Technical Committee “Optimal Control” of IFAC

• Fernando Lobo Pereira – national representative in EUCA –European Union Control Association

• Fernando Fontes – member of the Board of Experts do MIUR (Italian of Research and Education).

• Paulo Lopes dos Santos – expert advisor of the research project “Dynamical Systems and Related Approaches to Improving Behavorial Interventions” funded by ”National Institutes of Health (NIH), USA”.

• Fernando Lobo Pereira, Adriano de Carvalho have been evaluators of project proposals submitted to FCT, and AdI

• Fernando Lobo Pereira, has been evaluator of PhD and postdoc grant proposals submitted to FCT

• Fernando Lobo Pereira, has been evaluator of the execution of FCT research projects.

• Fernando Lobo Pereira, has been evaluator of project proposals submitted to the EU FP7 programs.

• Fernando Lobo Pereira, has been external expert in the follow up of the AWARE FP7 project.

L.7 Industrial technical consultancy

Cláudio Monteiro established cooperative and consultancy activities with the following industrial companies of the renewable energy sectors:

• Smartwatt (forecast systems, energy saving, renewable energy power stations), • Megajoule (time series analysis for winf forecast), • A.Nogueira (viability assessment of mini hydro power stations), • EDP Distribuição (novel system to forecast network failures), • REN (renewable power forecast),

• MARTIFER (performance of photovoltaic parks), • SOJA group (analysis and development of monitoring and optimization systems for

manufacturing), • ELECTRA (Républica de Cabo Verde) (consultancy on network optimization), • CEZ (Romania) (development of wind forecast system), • Ventinvest (development of wind forecast system), and • ADENE (contract mechanisms for power efficiency leading to some ECO-AP measures).

8. Detailed description of the research activities

The activities undertaken during the years of 201, 2012 and 2013 contributed strongly to the

ambitious general objectives of the strategic project which encompass

(a) Developing scientific and technical concepts, results, methods and tools in the areas

of control, systems, computing and optimization targeting not only the growth of the

various theoretical bodies but also the support of recently emerging engineering

paradigms alluded to in (b).

(b) Addressing the challenges arising in the design, development, control, operation, and

management of distributed and/or networked and network centric systems.

The societal challenges requiring emerging systems and control concepts, networked vehicles,

sensors and other devices, robotics, automation, communications, etc., encompass climate

change, environmental studies, renewable energy systems, electrical transportation systems,

water, integrated management of energy and other natural resources, web-of-life studies, etc.

The scientific production attests the progress made in the three large fronts, each one led by

each one of the research groups CEO, IE and NCCS, and reveals the wide world visibility in

several technical niches. It is important to remark that, being the stated objectives relatively

open, it is clear that the research issues that are now being addressed evolved positively in

maturity and sophistication. This is all the more remarkable by the fact that not only state-of-

the-art theoretical advancements took place but also by the fact that many of these concepts

were successfully transposed to key challenging applications after the strict scrutiny of

sophisticated stakeholders.

Of course, the funds made available by this project would be too limited to realistically address

what has been achieved. In fact, most of the resources – person-power, infra-structure,

networking, contributions to a vision and motivation – have been available via complementary

research contracts and from the generosity of the researchers. However, the funds available

in this project were fundamental to keep together the three groups of people with distinct and

complementary know-how and views of the required distinct scientific and technological

disciplines. The integration of these three distinct and complementary types of activities

undertaken by the three research groups can be observed in two different perspectives:

1. Sharing challenges which not only enlarges the scope of each group efforts and, as a

consequence, gives rise to new sources of innovation, but also provides guidance to

strategically direct the own specific research towards serving the requirements of the

others.

2. Promoting the excellence in each one of the specific areas which is precisely the

quality which attracts and is critical for a fruitful cooperation.

These have been the way through which this project capitalized on the synergies among the

three groups and provided sustainability in that it helped the success in winning research

contracts.

For more details on S&T research effort, internationalization, research contracts, outreach

activities and advanced training, you can consult the file Anexo-Progress-Technical-Report-

ISRP-2011-13 - last - org datas.pdf in the entry 9 of this application form where you can find

details on the associated scientific production, as well as the following websites:

http://www.fe.up.pt/isrp (currently reduced due to hacking vandalism and being reformulated

under the name of SYSTEC), http://systec.fe.up.pt/ and http://lsts.fe.up.pt/.

CEO – Control Estimation and Optimization

The main lines of activity of this group of research are research and training. In the last three

years the research activity of this group has been increased considerable. During this period,

new PhD students joined the group. We have also extended international collaboration in all

the lines of research with teams from Holland, Italy, United States, France, Belgium, Austria,

Germany and UK.

There is an important an active participation on European project SADCO, comprising 11 teams

from France, Italy, UK, Germany and Belgium.

Several initiatives were also promoted such as the organization of invited sessions in

conferences like CDC, special issues in international Journals like IEEE Transactions on Control

Systems Technology, Book edition with companies like World Scientific and with the

collaboration of prestigious researchers coming from different countries such as Holland, Italy,

United States, Australia, etc.

Contacts have also be made with companies like REN from Portugal and OMV from Austria

aiming to start projects in the areas of predictive control and leak detection in high pressure

gas networks.

The research activities of the group CEO – Control Estimation and Optimization included 3

complementary components concurring to the overall goal of advancing the state-of-the art in

fields of Optimal Control, Model Predictive Control and Identification, having in mind their

pertinence to advanced engineering applications. This aspect is incorporated by the

involvement in applied projects both in interaction with the other two groups of the research

unit and partnering with other institutions.

Optimal Control.

The activities of this group on optimal control reflect a strong and continuing commitment on

theoretical development of necessary optimality conditions (NCO) for constrained problems.

Moreover activities to apply the results to deal with real-life challenging problems and

numerical aspects of optimal control were carried out. The involvement of the group in the ITN

SADCO Project (EU grant agreement nº 264735) as well as its increase of doctoral activities was

very useful in this respect.

Collaborations with the other two groups of this research unit were performed. Concerning

theoretical developments it is widely accepted that some of the significant contributions made

by the group (together with various collaborators), may provide new strategies to address a

wider spectrum of problems. This line of research was pursued with emphasis on: Further

study on nondegenerated conditions and normality for state constrained problems;

• Applications of existing results to cover problems involving differential-algebraic

equations;

• Applications of techniques related to bounded slopes conditions in the context of state

constrained problems and problems with both state and mixed constraints.

• Application of bounded slope conditions to obtain new results for free time problems

and to optimal multiprocesses;

• Determination of conditions asserting the reduction of complexity of the current state-

of-the-art NCOs for Euler-Lagrange Inclusions.

• The group used its expertise to address some open problems directly related to real-

life optimal control problems. In this respect the group pursued theoretical

developments based on:

• New approaches to necessary conditions for state constrained problems will be

studied so as to guarantee its applications to real life problems via implementable

computational schemes.

• Study of reachability for constrained problems will also be the focus of attention.

Collaboration with the NCCS group will be maintained and increased in some of the areas

mentioned above. Besides theoretical aspects, real life optimal control problems were studied

in collaboration with the IE group. Among those are:

• optimal control problems associated with hydro-electrical production;

• hybrid optimal control problems arising from DC-converters;

• irrigation optimal control problem. Least, but not last, numerical study of optimal

control problems will involve

• testing and comparison of numerical software for optimal control problems will be

carried on;

• possible development of new optimal control algorithms.

Model Predictive Control (MPC)

In this component, the development of MPC frameworks with guaranteed stability applicable

to distributed systems such as vehicle formations was addressed. Theoretical results on

optimality conditions as well as the computational schemes developed for optimal control in

the previous objective will be used with the aim of obtaining good, if not optimal, feedback

controls for real applications. Our results obtained for state constrained problems were used

within a framework of MPC in order to: (i) develop a local viability condition that can be

combined with a sufficient condition for stability in order to guarantee stability of constrained

systems without a priori constraint satisfaction hypotheses; and (ii) the nondegeneracy of the

necessary conditions is of prime importance in MPC. The information on the previous optimal

control problems to guarantee the satisfactions of a constraint qualification, which in turn,

guarantees nondegeneracy was explored.

An MPC scheme for impulsive control systems was developed. The sampling scheme and the

Euler solution concept defined earlier was instrumental. Properties of stability and of sub-

optimality as a function of receding horizon underlying the MPC scheme were iinvestigated.

This effort can be regarded as an application of the results obtained earlier and, again, this

required a combination of methods traditional to research in MPC with the ones for impulsive

systems.

Identification.

In this component, both conceptual and applied activities were carried out. With respect to

the later, the focus was on the modelling and identification of gas networks for leakage

detection, and control and optimisation.

With respect to the former, the following activities were carried out:

• Development of new continuous-time LPV systems identification algorithms will be

pursued.

• New results on the identification of bi-dimensional systems were obtained.

• Development and application of novel Susbpace Identification Techniques for the

estimation of latent variable dynamical models from intensive longitudinal data

gathered during behavioral interventions.

• Continuous-time LPV Systems Identification algorithms were based on the Successsive

Approximations scheme derived from a linear time invariant (LTI) systems susbspace

identification algorithm coupled with an indirect procedure that copes with the high

sampling rate problem using a down sampling approach.

• Modeling and Identification of High Pressure Natural Gas Networks in order to detect

an locate leaks and apply Model Predictive Control Techniques

• Development of new Systems Identification Algorithms (continuous time system,

linear parameter varying systems, etc.)

• Application of system identification techniques to model behavioral systems in order

to design and to implement control theory based interventions. This work was carried

out in cooperation with Arizona-State University.

IE – Industrial Electronics.

Industrial Electronics domain have been the core for Research activity of IE Group. Two main

research lines emerge:

• Power Electronics and Systems, oriented to research applications on new and

emergent areas encompassing the investigation of power semiconductors, new

topologies of static converters and related control methods.

• Methods and technologies for intelligent control according to the requirements of

emergent technologies.

The generic approach is to the research power control systems. In the new emergent areas of

this field, it is strategic to get knowledge and expertise in the following domains:

• Architectures of power busses according to application areas;

• Topology of power converters appropriated to new requirements and functionalities

demanded by new application areas;

• Distributed systems architectures able of integrating complex systems.

The area of power conversion performs a functional layer between different primary power

sources/applications and electrical network layer operating as common resource for power

distribution.

Three main application areas were considered:

• renewable energy generation;

• electrical mobility; and

• improvement of energy efficiency in installations with common consumption.

IE Group has been working in the first area for last 13 years, and in second one for the last 6.

The energy efficiency was considered in the scope of the Strategic Project for the first time and

articulated with the more traditional areas. To integrate primary energy sources, electro-

mechanical actuators and the public grid, the following methods and technologies were

investigated:

• Models of different energy sources to be integrated into electrical circuits;

• Optimization methods and parameters extraction as these models typically are multi-

parametric ones;

• Storage systems and integrated architectures defining busses according to

characteristics of application;

• Power conversion, storage and control methods in order to design appropriated power

flows;

• State machines and supervision for control and management of power and energy

flows in the systems to work out.

As an important engineering area, we used methods and tools of Industrial Electronics - like

storage systems and power flow control – to focus on approaches to increase energy efficiency

in public and private facilities as well as for electrical and electronic devices.

Thus, the research activity targeted:

1. Control systems of individual processes based on power static converters as well as

management and supervision of sets of such systems, like wind systems, other renewable

energy sources, or kinematic chain of electric vehicles. The objective is to work static

converters as a whole sub-system able of imposing output characteristics independent from

load.

2. Development of models representing, with electrical parameters, the processes of

generating renewable energy for most common sources, wind, photovoltaic and hydrogen as

well as of electric vehicles as loads to grid;

3. Systems integration making application of power and instrumentation distributed

subsystems;

4. Methods for the improvement of energy efficiency.

To sum up, our activities encompassed:

• Research in modelling of renewal sources, supported on analytical formulation of

respective process, as way to incorporate them in electrical circuits and to research

generation optimization for different renewable sources;

• Design and implementation of a hybrid system based on wind, sun and storage, to

validate improvement of quality of service and energy efficiency as well as to analyze

dynamical behavior of renewal energy systems, either operating as a stand alone

system or interconnected with Grid. This contributes to solve the problems of mutual

disturbances of renewal energy systems and grid, and thus to improve renewal energy

quality as well as to increase dissemination of autonomous dispersed generation.

• Development of a laboratory to validate the electrical energy as the correct energy for

the kinematic chain in hybrid and electrical vehicles, developing research on vehicle

power-train and on the design of an appropriate DC Bus.

• Design and development of appropriate topologies for power converters, either for

interconnection to grid or electric vehicles.

• Investigation of methods and mechanisms of efficiency improvement in energy

consumption in common usage, either by appropriated storage or power control.

• Methods and tools Optimization and parameters extraction methods combined with

experimental raw data;

• Computational modeling and simulation: PSIM and Saber, for complex circuits and

systems, respectively, and MATLAB/SIMULINK for common systems; Research and

development validation through experimental data.

Moreover, the current emergence of these areas encompasses in the context of a very volatile

state-of-the-art led to the consideration of further investigations in:

• New electrical machines with very high power density new materials,

• Intense and frequent dynamic regimes;

• New battery technologies, namely, those of Lithium ions which are not mature yet;

• New technologies of multi-parametric complex models; and

• New recently emerging technologies of ultra capacitors.

This Engineering reality forces the development of novel models by the IE research group as

well as a comparative analysis with the current developments in the field. Accordingly, the

development of converters in these two areas requires the experimental validation that

follows the computational and dynamic behavior analysis.

NCCS – Network Centric Control Systems

The activities of NCCS consisted in the developments for the design of advanced network

centric control systems. It encompasses the following components:

(1) Dynamic optimization for control,

(2) Networked vehicle systems,

(3) Cooperative engineering, and

(4) Real-time and dependable computing and communication.

These components were articulated in such a way as to enable a bidirectional flow between

theoretic and the applied engineering research efforts. While the former receives the

motivation, requirements and strategic guidance from the latter, this one allows the

development, implementation, and operational field testing of systems designed with state-of-

the-art concepts, methods, and tools.

1. Dynamic optimization for control

• Necessary conditions in the form of Pontryagin's Maximum Principle for conventional

and impulsive control problems with mixed and state constraints. A new mathematical

concept of impulsive control were defined for consistency needs but also to fulfill

engineering requirements in terms of control action while the impulse develops.

Ekeland's Variational Principle and Lebesgue's discontinuous time variable change

were used in the proof under very weak regularity assumptions

• A new MPC formulation for the coordinated control of AUV formations using reach set

and value function satisfying the strict requirements posed the strict acoustic

communication and onboard computational constraints was investigated and

developed. It was achieved by transferring the usual on-line computation to the

generation of off-line estimates using polyhedral approximations to the reach sets and

the quadratic propagation of value functions.

• New optimality conditions for infinite horizon optimal control problems which involves

a new concept of transversality conditions were developed.

• Advanced numerical algorithms for HJB equations to compute the value function

enabling the synthesis of feedback control laws for invariance and trajectory tracking

were developed. Methods of mathematical analysis will be used to show the desired

convergence properties and the algorithms will be tested in simulation and

implemented onboard the vehicles.

A strong interaction takes place with the CEO group, being the effort here complementary in

that research is essentially driven by engineering requirements.

2. Networked vehicle systems

This activated consisted in the design and development of systems involving autonomous

unmanned, autonomous, underwater, surface and air vehicles vehicles aiming at the

deployment and operation of networked vehicle systems arising in applications with strong

societal and scientific impact, such as oceanographic surveys, environmental surveillance and

climate change studies.

Systems engineering methodologies, supervisory control, formal modeling, specification

languages, synthesis and verification techniques from computer science and control, filtering

techniques for sensor fusion, and software engineering methods – that, while in large demand

due to the acute need to support the design and development of interoperable networked

vehicle systems enabling mixed initiative operation, it is still very volatile with novel

technologies emerging frequently. This effort encompassed the improvement of single and

multiple vehicle coordinated control, single and cooperative navigation schemes as well as

software tools supporting command and control, middleware, onboard software environments

satisfying the operational requirements.

The current trends show that a competitive edge in research funding competitions would be

gained if systems based on the most recent technological developments for novel marine

vehicles and advanced marine communication systems. The networking of some researchers

associated with ISRP allows the access to such devices under very attractive conditions.

Further details can be found in the website http://lsts.fe.up.pt

The following issues were addressed:

• Framework for the coordinated operation of multiple interacting vehicles and systems

satisfying operational requirements. This follows from previous work and it

encompassed

o Command and control architectures for networked vehicles and devices

featuring mixed initiative capabilities. This involves verification in the network

of hybrid automata formalism, refinement of existing tools,and further

development of modules for coordinated path planning and maneuver design.

o Operational deployments for testing and field trials in partnership with the

AFA for UAV systems and the Portuguese Navy for AUV systems, enabling a

better understanding of requirements and operation concepts.

• AUV cooperative navigation schemes for the feature poor underwater environment

were developed by using SLAM based schemes coupled with extended Kalman filtering

techniques.

• Integration of optimal multi-sensor fusion with map matching were developed to meet

requirements of practical solutions for the navigation of autonomous platforms

encompassing IMU, GNSS, DVL or cameras/video recorders for robust navigation and

the reliable 3D navigation algorithms for accurate position and orientation

determination, 3D image map matching via JSLAM approach, being the image used for

both surrounding perception and dead-reckoning estimation.

It is important to observe that the developments were intensively field tested in cooperation

with key international institutions as described in the file

3. Cooperative engineering.

Drawn from the automotive, aeronautic, and IT industries, the research effort will focus on the

innovation management systems (IMS) of enterprises operating in networked business

environments with emphasis on open innovation systems based on extensive cooperation and

networked engineering by addressing:

• Structured methodology to support the analysis and synthesis of IMS.

• Modeling methodologies to deal with a large spectrum of process specification rules

(from soft to hard).

• Ontology to support the analysis and synthesis of IMS

• Handbook of innovation patterns that will be used in the development of IMS.

4.Real-time and dependable computing and communication.

The research activity consists in the investigation of Real-time and dependable computing and

communication. Markov chains or Stochastic Petri nets, measure theory, stochastic and timed

automata, perturbation analysis and other techniques for discrete event systems, and formal

real-time calculus were used to develop new protocols for real-time, dependable wireless

communication networks having in mind industrial applications and safety critical processes.

Along this component, the R&D consisted in:

• Study of real-time communications on wireless networks (IEEE 802.11, IEEE 802.15.4),

and fault-tolerant mechanisms and dependability for networks used in industrial

automation areas and safety-critical processes (FlexRay, WirelessHART and IEEE

802.15.4).

• New protocols developed and validated via simulation (OPNET) and field trials. Markov

chains or Stochastic Petri nets were used to analyze the network dependability for

safety-critical processes.

• Development of platforms for reliable distributed fault tolerant embedded industrial

control applications based on IEC 61131-3 and IEC 61499. A software replication

approach based on timed messages to ensure determinism, and a formal real-time

calculus enabling TNCES/SNS to determine the dependability properties was extended.

• Investigation of scalable routing protocols for wireless "Mesh" networks overcoming

the current IEEE 802.11s norm for local wireless "mesh" networks limitations. The

application of the DHTs clustering mechanisms in to the HWMP protocol was

investigated.

Final Report of the Project “Incentivo/EEI/UI0147/2013”

1. Introduction

The resources made available by the project Incentivo/EEI/UI0147/2013 were used to intensify the R&D activities of the FCT research unit #147 INSTITUTO DE SISTEMAS E ROBÓTICA – ISR – PORTO as outlined in the strategic project PEst-OE/EEI/UI0147/2011 designed to promote its strategy.

Although the project activities encompassed some effort to promote the cohesion of the R&D unit, we report them organized along the three development lines, one per each one of the research groups in which the R&D is organized, NCCS – Network Centric Control Systems, IE – Industrial Electronics, and CEO – Control, Estimation and Optimization, but also encompassed some effort to promote the cohesion of the R&D unit. Only the R&D products more significantly affected by the project resources are listed below. However, most of the scientific production listed in the final report of the PEst-OE/EEI/UI0147/2011 project also benefited from these resources.

2. NCCS - Networked Centric Control Systems

2.1 R&D developments

These include developments of dynamic optimization results and algorithms having in mind the control of systems with a hybrid nature or with impulses as those arising in the operation of networks of autonomous air, surface or underwater vehicles, [1,2], and also systems driven by flow fields like gliders and “fishes”, [3]. The results encompassed optimality conditions in the form of maximum principles, conditions of the Hamilton-Jacobi type and schemes to improve the computation of value functions. The later constitute an innovative approach to the design of low-level controllers as well as of schemes for the coordination of multiple dynamic systems.

Other R&D developments included the improvement of the design of multiple autonomous vehicle systems, notably, in what concerns (i) command and control, (ii) robust communications (particularly, acoustic), (iii) onboard management and software, and (iv) assorted hardware devices either internal to the vehicles or external to support their operation, [4,5].

2.2 Missions and demonstrations

Intensive field operations are critical to ensure the incorporation of the proper requirements in the design systems and, as consequence, to ensure their transition to the relevant societal end-users and stakeholders. The following missions benefited in either a direct or indirect way of the resources of this project:

• LSTS and MBARI (Monterey Bay Aquarium Research Institute) field deployments in Monterey Bay, California,

October 2013 – Researchers of the research unit from LSTS (the Laboratory of Underwater Systems and

Technologies of FEUP) visited MBARI to participate in CANON field experiments which involved an LSTS Xtreme

2 AUV and associated communication gear being deployed in near shore waters in Monterey Bay along with

other assets including ships and AUVs from MBARI.

• The above mission was also used to promote the collaboration between LSTS and MBARI whose joint activities

encompassed (i) effort for the integration of the T-REX MBARI software on both LSTS AUVs and UAVs and

participation in field operations CANON - Controlled, Agile, and Novel Observing Network – which is a MBARI

initiative aiming at the remotely collection of clear images of the constantly changing oceanic conditions.

• Participation in the workshop “Breaking the Surface 2013” in Murter, Croatia, for autonomous vehicles systems

and technologies which, this year, included the first aerial system demonstration.

• Participation in the REP 13 (Rapid Environment Picture), a yearly exercise, involving the Portuguese Navy, LSTS -

FEUP and members of the Autonomous Systems group at the Monterey Bay Aquarium Research Institute

(MBARI), Moss Landing, California, to an extensive exercise which put to test all the capabilities of all vehicles

that took place in Sesimbra and Setubal areas in which the LSTS vehicles preformed several surveys above and

underwater, detected multiple targets, and collected data from the water column.

3. IE - Industrial Electronics

The activities of this research group encompassed the development of systems and infra-structures to implement distributed power management and supervisory control systems governing power flow either in

renewable generation processes or power-train of electric vehicles (EV). This included the design and development of power conversion network topologies and control methods were applied to the emerging areas of micro and mini hybrid renewable power production and of car electric traction, [6].

Moreover, specific short term forecasting and specific optimization techniques were to increase energy efficiency in all its full life cycle from generation to consumption, including homes, offices and all electrical and

electronic devices, were investigated, [7].

4. CEO - Control Estimation and Optimization

This Research group pursued their effort in the development of optimal control theory, notably in what concerns the improvement of necessary conditions of optimality with emphasis on issues of nondegeneracy and the weakening of the assumptions required on the data of the problem, [8,9], as well as in the development of the practical optimal control based schemes designated by Model Predictive Control.

A particularly significant effort was made in tailoring the results to a number of applications in biomedical systems, agriculture and power management, [9,10].

Another line of development concerned the design of novel sophisticated identification schemes having in mind the complex requirements of important classes of applications, notably the detection of gas leaks, [11].

5. Selected bibliography

1 Sergey Zhukowski, Fernando Lobo Pereira, “Covering Mappings. Theory and Applications”, International Conference

Kolmogorv Readings – VI “GENERAL CONTROL PROBLEMSAND THEIR APPLICATIONS” (GCP-2013) 7-11 October, 2013,

Tambov, Russia.

2 J. Estrela da Silva, F. Lobo Pereira and J. Borges de Sousa, “Reachability analysis of dynamic programming based controlled

systems”, 52nd IEEE Conference on Decision and Control - CDC2013, Palazzo dei Congressi, Florence, Italy, December 10-13,

2013

3 T. Grilo, F. Lobo Pereira, S. Gama, “Optimal Control of Particle Advection in Couette and Poiseuille Flows”, J. Conference

Papers in Mathematics, Hindawi Publishing Corporation, vol. 2013

4 J. Pinto, M. Faria, J. Fortuna, R. Martins, N. Queiroz, F. Py, K. Rajan and J. Borges de Sousa, “Chasing Fish: Tracking and

control in an autonomous multi-vehicle real-world experiment”, Proceedings of the OCEANS ’13 MTS/IEEE San Diego, San

Diego, USA, September 23-26, 2013

5 Ionela Prodan, Sorin Olaru, Ricardo Bencatel, João B. Sousa, Cristina Stoica, Silviu-lulian Niculescu, “Receding horizon flight

control for trajectory tracking of autonomous aerial vehicles”, Journal of Control Engineering Practice, Elsevier, vol. 21, n.

10, Oct 2013, pp. 1334-1349

6 J.E. Paiva, A.S. Carvalho, "Controllable hybrid power system based on renewable energy sources for modern electrical

grids", Renewable Energy Vol 53 (2013) 271-279.

7 Claudio Monteiro, Tiago Santos, L. Alfredo Fernandez-Jimenez, Ignacio J. Ramirez-Rosado, M. Sonia Terreros-Olarte, "Short-

Term Power Forecasting Model for Photovoltaic Plants Based on Historical Similarity", Energies 2013, 6(5), 2624-2643.

8 Sofia Lopes, Fernando Fontes, Maria Do Rosário De Pinho, "An Integral-type Constraint Qualification to Guarantee

Nondegeneracy of the Maximum Principle for Optimal Control Problems with State Constraints", Systems & Control Letters,

Elsevier, Vol.62, 2013, pp.686-692.

9 M. M. A. Ferreira, A. F. Ribeiro, G.V. Smirnov, "Local minima of quadratic functionals and control of hydro-electric power

stations", Journal of Optimization Theory and Applications, Springer, submitted in 2013.

10 F Lobo Pereira, FA Fontes, MM Ferreira, MR Pinho, VA Oliveira, E Costa, GN Silva, "An Optimal Control Framework for

Resources Management in Agriculture", J. Conf. Papers in Mathematics, Hindawi Publishing Corp., Vol 2013 (2013)

11 T-P Azevedo Perdicoúlis, G. Jank, P. Lopes dos Santos, "Boundary Control of Discrete Repetitive Processes with Smoothing:

controllability, observability and disturbance attenuation", Multidimensional Systems and Signal Processing, Springer,

2013, pp.1-14

Porto, April 10, 2014

Fernando Lobo Pereira Scientific Coordinator of the FCT R&D unit #147

Documents

Formulário Relatório Final - Componente Científica2011-2013).pdf · experimental raw data to model the primary power sources of electric subsystems to be integrated in the overall