Instituto de Sistemas e Robótica - Porto - UPpaginas.fe.up.pt/~isrp/downloads/Synopsis_ISRP_Researchers_2006.pdf · The Scientific Council works in two sub-group corresponding to

Instituto de Sistemas e Robótica - Porto (Institute for Systems and Robotics - Porto)

URL: www.fe.up.pt/isrp

Synopsis - ISR-P in the Year 2007

Identification Unit Description and Organisation On-Going Projects Synopsis of Ph.D. Permanent Researchers

January 1, 2007

ISR-Porto: Synopsis of Permanent Researchers in 2007

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Table of Contents

1. R&D UNIT IDENTIFICATION ...................................................................................................3

2. SHORT DESCRIPTION OF THE UNIT .................................................................................... 5

3. PERMANENT AND TEMPORARY STAFF ON DECEMBER 31, 2006 PER GROUP ....... 7

3.1. PROCESS SYSTEMS ENGINEERING............................................................................................. 7

3.2. CONTROL SYSTEMS AND TECHNOLOGY ................................................................................... 8

3.3. DECISION AND CONTROL ENGINEERING................................................................................... 9

3.4. INDUSTRIAL AUTOMATION ..................................................................................................... 11

4. LIST OF ON-GOING PH.D. AND M.SC. THESES................................................................. 13

5. SYNOPSIS OF PH.D. PERMANENT RESEARCHERS......................................................... 19


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1. R&D Unit Identification

R&D Unit nº 147/94 - Instituto de Sistemas e Robótica - Porto Address : Faculdade de Engenharia, Rua Dr. Roberto Frias, s/n, 4200-465 Porto, Portugal Telephone: 351- 22.508.1694 Fax: 351- 22.508.1632 E-mail: [email protected] URL: http://www.fe.up.pt/isrp/

Scientific Domains (following JNICT classification, November 1991) Main : (003) - Engineering Science and Technology Other: (042) - Electronic Engineering and Technology (040) - Electrical Engineering (034) - Chemical Engineering and Technology

Management

Scientific Council Scientific Co-ordinator The Scientific Council works in two sub-group corresponding to two levels of decision i) The Plenary of the Scientific Council, of which all permanent researchers holding a Ph.D. are members; ii) The Steering Committee, composed by the Scientific Co-ordinator, the Deputy Scientific Co-ordinator and the Co-ordinators of the four Research Groups of the Unit. The Plenary defines the internal rules. In particular, it elects the Scientific Coordinator. It also votes the annual activity reports and the budget allocation when proposing the work plan to the the FCT - Fundação para a Ciência e a Tecnologia (the National Foundation for Science and Technology). The Steering Committee defines the main lines of research activity and management of the Unit. The Scientific Coordinator is a member of the Scientific Council, elected by the Council, who is responsible for all management activity and for the scientific co-ordination of the Unit.

Scientific Co-ordinator Name: Sebastião Feyo de Azevedo Position: Professor, FEUP Telephone: 351-22.508.1694 Fax: 351-22.508.1632 E-mail: [email protected] URL: http://www.fe.up.pt/~sfeyo/

The Scientific Coordinator


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2. Short Description of the Unit Mission and dominant research areas The Instituto de Sistemas e Robótica - Porto (ISR-Porto) is a R&D Unit of the Faculty of Engineering, University of Porto, co-ordinated at National level and financed by the Fundação para a Ciência e a Tecnologia (FCT). It is a horizontal structure housing the activities of researchers from the Departments of Electrical and Chemical Engineering of the Faculty of Engineering and also of researchers from other Organic Units of the University of Porto and other Institutions of Higher Education. The mission and objectives of ISR-Porto can be summarised and characterised as follows: • Complementary research activities of both a fundamental and an applied nature; • Postgraduate teaching and advanced technical training; • International and industrial cooperation; • Technology development and transfer. In terms of dominant research areas, the following domains are covered: • Process systems and control engineering; • Optimisation and control theory; • Manufacturing and robotics technologies; • Industrial automation.

Human resources and internal organization Human resources represent the Unit's real asset. Currently 35 Permanent Researchers, 28 of them holding a Ph.D. degree, and, at present, 42 other non-permanent researchers (of which 2 post-doctoral) develop their work and concerted research efforts within ISR-Porto. As for internal organisation of research, the Unit is structured in four main groups, each one with an internally chosen co-ordinator and corresponding to dominant research interests and dominant sharing of laboratory facilities and equipments among their researchers. These are: • The Process Systems Engineering Group (Professor Sebastião Feyo de Azevedo) • The Control Systems and Technology Group (Professor Jorge Martins de Carvalho) • The Decision and Control Engineering Group (Professor Dr. Fernando Lobo Pereira) • The Industrial Automation Group (Professor Adriano Carvalho) This internal organisation by no means precludes cooperation between groups. The interests and activities of each of such groups unfold through more than one of the research areas presented above. In fact, a major strength of the Unit's research programme is the cross coupling observed between the research areas. Practice shows significant interaction between researchers of different groups within the Unit, which take different forms, such as cooperation in research projects or joint organisation of conferences and advanced courses.

The Advisory Committee The Advisory Committee is composed by the following Scientists: Professor Michael Grimble, from the University of Strathclyde, Scotland; Professor Jean Faucher, from the Laboratoire d'Electrotechnique et d'Electronique Industrielle, INP, ENSEEIHT, Toulouse, France; and Professor Adolfo Steiger Garção, from the Department of Electrical Engineering, New University of Lisbon, Portugal. The well-known wide range of activity and interests of these distinguished scientists, cover the areas of work of the Unit's researchers.


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Activity overview As activity overview: in the recent past the activity of the Unit has been highly rated (with the Evaluation of Very Good) by the Evaluation Panel appointed by the FCT in 1996, in 2000 and in 2004

During the past 5 years (2002-2006) 19 Ph.D. and 20 M.Sc. theses, 74 papers in international journals and books, over 400 other publications and/or communications of scientific work, 4 patents and 19 prototypes were produced. During 2006, work has been carried out concerning 13 main projects, 46 Ph.D. and 31 M.Sc. theses. A wide number of actions, such as the main responsibility of organisation of workshops and meetings, and the signing of contract work with major national industrial companies, confer to the Unit a dimension which goes well beyond its natural national and university borders.

Research Projects in 2004-2006 • Within the Process Systems Engineering Group

o PSE_01_KEM - Knowledge engineering methods for process modelling and control Research Co-ordinator: Sebastião Feyo de Azevedo

o PSE_03_IA – Development of image analysis tools Research Co-ordinator: Sebastião Feyo de Azevedo

o PSE_11 – Large Scale Optimization and Optimum Equipment Design Research Co-ordinator: Romualdo Salcedo

• Within the Control Systems and Technology Group o CST_04_SubSyd – Subspace System Identification

Research Co-ordinator: Paulo Lopes dos Santos o CST_02_5DPO – 5DPO RoboSoccer – Cooperative Robotics in a Dynamical

Environment Research Co-ordinator: António Paulo Gomes Mendes Moreira

o CST_06_OCO – Optimal Control and Optimisation Research Co-ordinator: Maria Rosário Marques Fernandes Teixeira Pinho

• Within the Decision and Control Engineering Group o DCE_01_HybSyCo – Nonsmooth Control and Hybrid Systems

Research Co-ordinator: Fernando Manuel Ferreira Lobo Pereira o DCE_02_UnderwaterSysTech – Underwater Systems and Technologies Research Co-ordinator: Fernando Manuel Ferreira Lobo Pereira o DCE_03_NET-VEHICLE – Networked Vehicles and Sensor Systems

Research Co-ordinator: Fernando Manuel Ferreira Lobo Pereira o DCE_04_EnterpriseEng - Enterprise Engineering

Research Co-ordinator: Fernando Manuel Ferreira Lobo Pereira • Within the Industrial Automation Group

o IA_02_DiCA – Real Time Distributed Control Applications, Research Co-ordinator: Adriano da Silva Carvalho

o IA_11_PoCRES – A Framework for Development of Power Controllers within Renewal Energy Systems

Research Co-ordinator: Adriano da Silva Carvalho o IA_10_MeMeC – New Methods and Technologies in Measurement Chains

Research Co-ordinator: Adriano da Silva Carvalho


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3. Permanent and temporary staff on December 31, 2006 per group

3.1. Process Systems Engineering Permanent Ph.D. staff

Name Institution E-mail Position % time

Ana Margarida Fonseca UFP [email protected] Lecturer 30 Fernando Alberto Nogueira Rocha FEUP [email protected] Lecturer 70

Maria Joana Peres FEUP [email protected] Lecturer 70 Maria João Gonçalves Meireles ISEP [email protected]

.pt Professor 30

Peter Ho IPVC [email protected] Lecturer 30 Romualdo Luis Ribera Salcedo FEUP [email protected] Professor 70

Sebastião Feyo de Azevedo FEUP [email protected] Professor

group co-ordinator 70

Permanent Graduate Researchers


Temporary Post-doctoral Researchers

Name Institution Position % timeLuís Rocha San Miguel Bento n. a. Researcher 20

Temporary Graduate Researchers

Name Institution Position António Manuel Azevedo Ferreira FEUP Ph.D. Student Cristina Pereira Cunha Rodrigues FEUP Ph.D. Student Helder Gomes da Silva FEUP Ph.D. Student

Luís Alberto Paz Suarez Pinar del Rio - Cuba Ph.D. Student


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Moritz von Stosch RWTH Alemanha

Research student

Vânia Chibante FEUP Ph.D. Student

Technical and Administrative Staff

Name Institution Position Joana Isabel Sottomayor e Azeredo FEUP Administrative Staff

3.2. Control Systems and Technology Permanent Ph.D. staff

Name Institution E-mail Position % timeAntónio Paulo Gomes M. Moreira FEUP [email protected] Lecturer 70

Catarina Judite Morais Delgado FEUP [email protected].

pt Lecturer 50

Jorge L. Martins de Carvalho FEUP [email protected]


Maria do Rosário Fernandes Pinho FEUP [email protected] Lecturer 70

Maria Margarida Amorim Ferreira FEUP [email protected] Lecturer 70

Paulo Jorge A. Lopes dos Santos FEUP [email protected] Lecturer 70

Paulo José C. Gomes da Costa FEUP paco.fe.up.pt Lecturer 70




Name Institution Position % time


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Name Institution Position André Gustavo Scholari Conceição FEUP Ph.D. Student

José Alexandre Carvalho Gonçalves IPB Ph.D. Student

José Luís Sousa Magalhães Lima IPB Ph.D. Student Pedro Luís C. Gomes da Costa FLUP Ph.D. Student Pedro Manuel Oliveira Fernandes Moreira FEUP M.Sc. Student

Paulo Sérgio Lima Malheiros FEUP Ph.D. Student Helder Filipe Pinto de Oliveira FEUP M.Sc. Student Sofia Oliveira Lopes U. Minho Ph.D. Student


Name Institution Position

3.3. Decision and Control Engineering Permanent Ph.D. staff

Name Institution E-mail Position % timeAníbal Castilho Coimbra de Matos FEUP aní[email protected] Lecturer 75

Eduardo Alexandre Pereira da Silva ISEP [email protected].

pt Lecturer 70

Fernando Manuel F. Lobo Pereira FEUP [email protected]

Professor group co-ordinator

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Patrícia Alexandra Gregório Ramos ISCAP [email protected] Lecturer 50


Name Institution E-mail Position % timeAlfredo Manuel de Oliveira Martins ISEP [email protected].

ipp.pt Assistant Lecturer

/ Ph.D. Student 60


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Gil Manuel Magalhães de Andrade Gonçalves FEUP [email protected] Assistant Lecturer

/ Ph.D. Student 70

João Tasso de Figueiredo Borges de Sousa FEUP [email protected] Assistant Lecturer 70

Jorge Manuel Estrela da Silva ISEP [email protected] Assistant Lecturer 70 José Miguel Soares de Almeida ISEP [email protected].

pt Assistant Lecturer

/ Ph.D. Student 60

Nuno Alexandre Cruz FEUP [email protected] Assistant Lecturer / Ph.D. Student 75


Name Institution Position % time


Name Institution Position Alexandre Jorge Arada de Sousa FEUP M.Sc. Student

Ana Cristina Pinto FEUP Researcher

Project Manager António Manuel N. dos Santos FEUP M.Sc. Student Bruno Miguel Marques Terra FEUP Researcher Eduardo Resende Brandão Marques FEUP Ph.D. Student

Hugo Alexandre de Almeida Ferreira ISEP M. Sc Student

José Carlos Queirós Pinto FEUP M.Sc. Student Júlio Miguel da Costa Ferreira FEUP Researcher Luís António Dias Madureira FEUP Engineer Nuno Filipe Leite dos Santos FEUP Researcher Paulo Alexandre Sousa Dias FEUP Ph.D. Student Paulo Jorge Ferreira Lebres FEUP M.Sc. Student Pedro Miguel Duarte Pinto Almeida FEUP Researcher

Ricardo André da Silva Martins FEUP Researcher Ricardo Ayres Gomes Bencatel FEUP Researcher Rui Jorge Pereira Gonçalves FEUP M.Sc. Student Rui Manuel Ferreira Gomes FEUP Ph.D. Student Sérgio Loureiro Fraga FEUP Ph.D. Student


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Name Institution Position Paulo Manuel de Jesus Madaleno Lopes FEUP Technical Staff

Bruno Silva Pereira FEUP Technical Staff Daniel Augusto Gouveia de Jesus Madaleno Lopes FEUP Administrative Staff

3.4. Industrial Automation Permanent Ph.D. staff


Adriano da Silva Carvalho FEUP [email protected] Associate Professor


António José de Pina Martins FEUP [email protected] Lecturer 70 Armando Luís de Sousa Araújo FEUP [email protected] Lecturer 50

Artur Agostinho Capelo Cardoso FEUP [email protected] Lecturer 40

Pedro Alexandre G. L. Ferreira Souto FEUP [email protected] Lecturer 70

Armando Jorge Miranda Sousa FEUP [email protected] Lecturer 70

Mário Jorge Rodrigues Sousa FEUP [email protected] Lecturer 70

Paulo José Machado Portugal FEUP [email protected] Lecturer 70

Paulo Jorge Campos Costa IPVC [email protected] Lecturer 50 Rui Filipe Marques Chibante ISEP [email protected] Lecturer 50


Name Institution E-mail Position % timeCarlos João Rodrigues Costa Ramos FEUP [email protected] Assistant Lecturer

/ Ph.D. Student 100


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Name Institution Position % timeAbílio Joaquim G. Oliveira Azenha FEUP Researcher 100


Name Institution Position Henrique Baptista Gonçalves IPB Ph.D Student Joaquim Fernando Almeida Alves ISEP Ph.D Student José Augusto Almeida P. Carvalho IPB Ph.D Student

Orlando Manuel Castro Ferreira Soares IPB Ph.D Student

Isabel M G F Vaz Pinheiro ISEP M.Sc. Student José Filipe Dourado Santos Veiga FEUP Ph.D Student Maria Teresa Outeiro ISEC Ph.D Student José Miguel Cardoso Ferreira FEUP M.Sc. Student


Name Institution Position


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4. List of On-Going Ph.D. and M.Sc. Theses (on January 1st, 2007)

Ph.D. Theses in progress for 2007

Author: António Manuel Azevedo Ferreira Title: Phenomenological characterization of the processes of impurity transfer into crystals in

industrial processes Institution/Date FEUP/ 2007 Supervisor: Fernando Rocha Co-supervisor: Nuno Faria Author: Cristina Paula Pereira da Cunha Rodrigues Oliveira Title: Dicalcium phosphate precipitation. Experimental characterization and modelling. Institution/Date FEUP/ 2007 Supervisor: Fernando Rocha Author: Helder Gomes da Silva Title: Stochastic optimisation and large-scale systems Institution/Date FEUP/ 2007 Supervisor: Romualdo Salcedo Co-supervisor: Nuno Oliveira (DEQ-FCTUC) Author Luis Alberto Paz Suarez Title Model-based Predictive Control of Fed-batch Non-linear Industrial Processes Institution/Date FEUP, Expected April 2008 Supervisor Sebastião Feyo de Azevedo Author: Vania Chibante Title: Dry gas cleaning of acid gases with recirculating cyclones Institution/Date FEUP/ 2007 Supervisor: Romualdo Salcedo Co-supervisor: Ana Margarida Fonseca (CEMAS-UFP) Author: André Scolari Conceição Title: Mobile Robotics Control and Sensorial Fusion Institution/Date: FEUP/ 2006 Supervisor: António Paulo Moreira (FEUP) and Paulo Gomes da Costa (FEUP) Author: José Alexandre Carvalho Gonçalves Title: Robust System for Localization and Navigation of a Mobile Autonomous Robot Institution/Date: FEUP/Mar. 2007 Supervisor: Paulo Gomes da Costa Author: José Luis Sousa Magalhães Lima Title: Location in Mobile Robotics Institution/Date: FEUP/ 2006 Supervisor: Paulo Gomes da Costa (FEUP) and António Paulo Moreira (FEUP) Author: Pedro Luís Cerqueira Gomes da Costa Title: Cooperative Planing of Tasks and Trajectories of Multiple Robots Institution/Date: FEUP/ 2006 Supervisor: António Paulo Gomes Mendes Moreira


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Author: Paulo Sérgio Lima Malheiros Title: Adaptive System for Real Time 3D Reconstruction Institution/Date: FEUP/Mar. 2007 Supervisor: Paulo Gomes da Costa Author: Sofia Oliveira Lopes Title: Stenghened necessary optimality conditions for dynamic problems Institution/Date: U. Minho/2008 Supervisor: Fernando Arménio Fontes (U. Minho) and M.d. R. de Pinho (FEUP) Author: Alfredo Manuel de Oliveira Martins Title: Perception and Control in Underwater Mobile Robotics Institution/Date: FEUP/2008 Supervisor: Fernando Lobo Pereira Author: Gil Manuel Magalhães de Andrade Gonçalves Title: A Framework for Enterprise Cooperation: Models and Paradigms Institution/Date: FEUP/2008 Supervisor: Fernando Lobo Pereira Author: José Miguel Soares de Almeida Title: Design of Hybrid Control Systems for Mobile Robotics Institution/Date: FEUP/2008 Supervisor: Fernando Lobo Pereira Author: Nuno Alexandre Lopes Moreira da Cruz Title: Control of Distributed Systems for Oceanographic Observation Institution/Date: FEUP/2008 Supervisor: Fernando Lobo Pereira Author: Eduardo Resende Brandão Marques Title: Models of computation and programs for embedded and distributed systems Institution/Date: FCUP e University of Salzsburg/2010 Supervisor: Luís Lopes e Christoph Kirsch Author: Paulo Alexandre Sousa Dias Title: A distributed control framework for the mixed initiative coordination and control of

heterogeneous vehicle systems Institution/Date: FEUP/2009 Supervisor: Fernando Lobo Pereira Author: Rui Manuel Ferreira Gomes Title: Modelling and synthesis of maneuvers for autonomous vehicles: a hybrid systems

approach - (Tentative title) Institution/Date: FEUP/2009 Supervisor: Fernando Lobo Pereira Author: Sérgio Loureiro Fraga Title: Dynamic Optimization for Cooperative Control (Tentative title) Institution/Date: FEUP/2009 Supervisor: Fernando Lobo Pereira Author: Henrique Nuno Baptista Gonçalves Title: Integrated Design of 3 Phase Induction Machines/Power Static Converters Institution/Date: FEUP/2007


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Supervisor: Adriano da Silva Carvalho Co-supervisor: Armando Sousa Araújo Author: Carlos João Rodrigues Costa Ramos Title: Optimization of Double Energy Conversion in Variable Speed Generation Systems

Based on Asynchronous Machine Institution/Date FEUP/2007 Supervisor: Adriano da Silva Carvalho Co-supervisor: António Pina Martins Author: Orlando Manuel de Castro Ferreira Soares Title: Optimization of Power Generation in Distributed Small/Medium Wind Systems Institution/Date: FEUP/ 2007 Supervisor: Adriano da Silva Carvalho Co- supervisor: António Pina Martins Author: José Augusto de Almeida Pinheiro de Carvalho Title: Peformance Evaluation of PROFIBUS-DP Networks Through Techniques of Faults

Injection Institution/Date: FEUP/ 2007 Supervisor: Adriano da Silva Carvalho Co- supervisor: Paulo Portugal Author: Ricardo Alexandre Reinaldo de Moraes Title: Supporting Real-Time Communication in CSMA-Based Networks: The VTP-CSMA

Virtual Token Passing Approach Institution/Date: FEUP/ 2007 Supervisor: Francisco Vasques de Carvalho Co-Supervisor: Paulo Portugal Author: Joaquim Fernando Almeida Alves Title: Monitoring of Engineering Structures Based on Bragg’s Networks of Optical Fibers Institution/Date FEUP/2007 Supervisor: Armindo Lage Co-supervisor: Adriano Carvalho Author: José Filipe Dourado Santos Veiga Title: Performance evaluation of Distributed Systems Architectures with Requirements of

Critical Safety Institution/Date FEUP/2009 Supervisor: Adriano Carvalho Author: Maria Teresa Outeiro Title: High-Efficiency Power Converters for Optimum Fuel Cell Utilization Institution/Date FEUP/2009 Supervisor: Adriano Carvalho Co-supervisor: Rui Chibante


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M.Sc. Theses in progress for 2007 Author: Helder Filipe Pinto de Oliveira Title: Performance and Dynamics Analysis of 3 and 4 Wheels Omnidirectional Robots Institution/Date: FEUP/ 2006 Supervisor: Paulo Gomes da Costa (FEUP) and António Paulo Moreira (FEUP) Author: Pedro Manuel Oliveira Fernandes Moreira Title: Active Noise Reduction Institution/Date: FEUP/ 2005 Supervisor: António Paulo Moreira (FEUP) Author: Alexandre Jorge Arada de Sousa Title: Design and construction of a low cost autonomous underwater vehicle Institution/Date FEUP/ 2007 Supervisor: Fernando M. Ferreira Lobo Pereira Co-supervisor: João Tasso F. Borges de Sousa Author: António Manuel Nogueira Santos Title: WaVeSim – Simulation Environment for Water Vehicles Institution/Date FCUP/ 2007 Supervisor: Aníbal Matos Co-supervisor: João Barros (DCC/FCUP) Author: José Carlos Queirós Pinto Title: Supervisory mission and vehicle control for autonomous unmanned vehicles Institution/Date FEUP/ 2008 Supervisor: Fernando M. Ferreira Lobo Pereira Co-supervisor: João Tasso F. Borges de Sousa Author: Paulo Jorge Ferreira Lebres Title: Process Management for Reconfigurable Production Lines Institution/Date FEUP/2007 Supervisor: Fernando Lobo Pereira Co-supervisor: Gil Manuel M. Andrade Gonçalves Author: Rui Jorge Pereira Gonçalves Title: Virtual reality frameworks for mixed initiative planning and control of heterogeneous

vehicles Institution/Date FEUP/ 2008 Supervisor: Fernando M. Ferreira Lobo Pereira Co-supervisor: João Tasso F. Borges de Sousa Author: José Miguel Torres Correia Cardoso Ferreira Title: Design and Simulation of a FACTS Controller for Maximizing the Electric Power

System Controllability and Transmission Capacity Institution/Date FEUP/2007 Supervisor: António Pina Martins Author: José Miguel Sampaio Faria Title: Formal Development of Solutions for Real-Time Operating Systems with TLA+/TLC Institution/Date FEUP/2007 Supervisor: Adriano Carvalho Author: João Miguel Mendes Silveira


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Title: Design and implementation of a digital regulator for the Inner Triplet Systems of the LHC

Institution/Date FEUP/2007 Supervisor: Adriano Carvalho Author: Isabel M G F Vaz Pinheiro Title: Distributed Instrumentation in Automation Systems Institution/Date FEUP/2007 Supervisor: Adriano Carvalho


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5. Synopsis of Ph.D. Permanent Researchers


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Adriano Carvalho graduated in Electrical Engineering, Faculty of Engineering of University of Porto, 1976. He pursued graduate studies at University of Porto, obtaining in 1989 a Ph.D. degree, and in 1997 the title of Aggregate Professor, both in Electrical and Computers Engineering.. He started a full-time academic career in1976, and presently he is an Associate Professor in Electrical and Computers Engineering Department, developing his research and leading the Industrial Automation group of the Institute for Systems and Robotics. His main interests are Automation and Control. He is member of Institute of Electrical and Electronics Engineers.

Research Interests R&D interests are centered at automation and control fields. Automation Interest in the field points to following research lines: Systems Integration, approaching distributed control sub-system like event-driven one demanding for methods and techniques associated to Real-time distributed systems supported on Communications Nets, from Field-busses to architectures of Communications Bus; The paradigm for information sub-system within Automation systems points to work with object-oriented analysis, modeling, and programming. So the interest in high performance Petri Nets as methodological tool for domain. The application domains to be worked are Shop-floor Control, Real-Time Architectures, Communications Protocols, Reliable Multicasting Protocols, Fault-Tolerance. Control This field also comprehends two research lines: Methods and technologies for intelligent control, accompanying emergent technologies, and Power Electronics and Systems, orientated to study high power semiconductors, with development of static converters and related control methods as a support to industrial control systems based on them. Activity is orientated to control systems of individual processes based on power static converters as well as management and supervision of sets of such systems, like wind farms. It is required to study components and architectures for static converters and related models and associated control methods. They are considered the pulse width modulation and soft commutation control depending on industrial applications in study. The objective is to work static converters as whole sub-system able of imposing output characteristics independent from load. It is a goal to keep on developing Spice compatible models, for either components or converters. The control methods to

be considered for the systems are based on fuzzy logic/neuro-fuzzy logic. As development tools they are used the following packages: MAPLE V, MATLAB / Simulink, SABER.

Current Projects • INTEGRA - Integration Platform for

Distributed Automation, FEUP, EFACEC,REN;

• GESTAR: a tool for integration and management of operations and processes in Stations for Industrial Water Processing, FEUP, AdI, MdeMáquina;

• DAISy: Dependability Analysis of Distributed Instrumentation Systems FEUP, FCT;

• Remote and Distributed Instrumentation System for Analysis of Vibrations in Cabled Bridges, FEUP, FCT, IEP;

• SiPSA - Signal Processing for Power Systems Automation FEUP, AdI, EFACEC;

• FEUPBUS – Experimental Platform for Essay of New Technologyes of Bus Industry, FEUP, EvoBus, EFACEC;

• Power Converter, High Power for Wind Energy Generation Systems FEUP, FCT, ADI, Enervento;

• Development of prototype plant of an advanced energy system, FEUP, FCT

Recent Selected Publications 1. António Pina Martins, Adriano Carvalho, ‘Fuzzy Controllers with Reduced Rulebases and Real-Time Capability for Power Systems Supervision’ in Electric Power Components and Systems, Vol.29 nº 12, pp.1145-1159, 2001; 2. C.A.Martins, X.Roboam, T.A.Meynard e A.S.Carvalho, ‘Direct Torque Control for Medium-Voltage Drives Using Multi-level Converters’, IEEE Industrial electronics Society Newsletter, March 2001;

Adriano Carvalho Associate Professor Phone: 351 22 508 1818; Fax: 351 22 508 1443 E-mail: [email protected]


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3. M. Barbosa, M. Farsi e A.S. Carvalho, ‘Enhanced Conformance Testing Using Fornal Methods’, IEEE Industrial electronics Society Newsletter, September 2001; 4. Martins CA, Roboam X, Meynard TA, Carvalho AS, ’Switching frequency imposition and ripple reduction in DTC drives by using a multilevel converter’, in IEEE Transactions on Power Electronics 17 (2): 286-297 MAR 2002; 5. Paulo José Portugal, Adriano Carvalho, ‘The GRAFCET Programming Language’, capítulo do livro “The Industrial Information Technology Handbook”, pp.-1- 64-21, edited by Richard Zurawski, CRC Press, 2004; 6. Mário Jorge Rodrigues de Sousa, Adriano Carvalho, ‘Programming with the IEC 61131-3 Languages and the MatPLC’, capítulo do livro “The Industrial Technology Information Handbook”, pp.65-1-65-21, edited by Richard Zurawski, CRC Press, 2004; 7. Rui Rocha, Jorge Dias and Adriano Carvalho, ‘Cooperative multi-robot systems: A study of vision-based 3-D mapping using information theory’, Robotics and Autonomous Systems 53 (3-4), pp. 282-311, 2005; 8. Paulo Costa, António Martins, Adriano Carvalho, ‘Optimising Wind Energy Capture – Expanding the Speed Range with the Doubly-Fed Induction Generator’, in WindTech International, Volume 1, Nº 3, April/May 2005; 9.Paulo José Portugal, Adriano Carvalho, ‘On Dependability Evaluation of Fieldbus Networks: a Permanent Fault Analysis’, Proceedings of IECON'2001 - 27th Annual Conference of the IEEE Industrial Electronics Society, pp.299-306, 2001 10.Carlos Ramos, António Pina Martins, Armando Araújo, Adriano Carvalho, ‘Current Control in the Grid Connection of the Double-Output Induction Generator Linked to a Variable Speed Wind Turbine’, in Proceedings of the IECON'02, pp.979-984, 2002 11.Paulo José Portugal, Adriano Carvalho On Dependability Evaluation of Fieldbus Networks: a Transient Fault Analysis, in IFAC International Conference On Fieldbus Systems And Their Applications - 4TH FET'2001, 2001; 12.Mário Jorge Rodrigues de Sousa, Adriano Carvalho Mapping Synchronisation Protocols onto Real-Time CORBA, in International Symposium on Distributed Objects and Applications, pp.89-96, 2000; 13.Abílio Azenha, Adriano Carvalho, Instrumentation and Localisation in Quasi-Structured Environments for AGV Positioning ,in 5th IFAC International Symposium on Intelligent

Components and Instruments for Control Applications, pp.73-80, 2003; 14.Paulo José Portugal, Adriano Carvalho, José Augusto Carvalho, A Framework for Dependability Evaluation of PROFIBUS Networks, in Proceedings of the International Symposium on Industrial Electronics (ISIE'03), 2003; 15.Mário Sousa, Adriano Carvalho, An IEC 61131-3 Compiler for the MatPLC, in Proceedings of the 9th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'03), 2003; 16. R. Rocha, J. Dias e A. Carvalho, ‘Entropy Gradient-based Exploration with Cooperative Robots in 3-D Mapping Missions’, Proceedings of the ICRA’2005 Workshop on Cooperative Robotics, Intern. Conf. on Robotics and Automation, Barcelona, Espanha, 2005; 17. Rogério Paulo, Adriano Carvalho, ‘Towards Model-Driven Design of Substation Automation Systems’, in PPrroocceeeeddiinnggss ooff CCIIRREEDD 22000055, 18th International Conference on Electricity Distribution, Turin, Itália, 2005; 18. Paulo José Portugal, Adriano da Silva Carvalho, ‘A Simulation Model based on a Stochastic Petri Net Approach for Dependability Evaluation of PROFIBUS-DP Networks’, in Proceedings of the 10th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'05), Bari, Itália, 2005. 19. José Augusto Carvalho, Adriano Silva Carvalho, Paulo José Portugal, ‘Assessment of PROFIBUS Networks Using a Fault Injection Framework’, in Proceedings of the 10th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'05), Bari, Itália, 2005; 20. Vitor Oliveira, Joaquim Alves, Adriano Carvalho, Armindo Lage,‘Evaluation of an Interrogation System of Fiber Bragg Sensors conditioned with a PZT based tunable filter’, in Proceedings of IEEE Sensors 2005 – The 4th IEEE International Conference on Sensors, Irvine, Califórnia, USA, 2005. 21. A. Martins, P. Costa and A. Carvalho “Coherence and Wakes in Wind Models for Electromechanical and Power Systems Standard Simulations”. In Proc. of the European Wind Energy Conference, EWEC’06, 27 Feb-2 March 2006, Athens, Greece 22. C. Ramos, A. Martins and A. Carvalho, “DSP plus FPGA based Control Platform for High Performance Power Electronics Converters and Systems”. In Proc. of the European DSP Education and Research Symposium, EDERS’06, 4 April 2006, Munich, Germany.


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Ana Margarida Fonseca obtained her licenciate degree in Chemical Engineering from the University of Porto in 1992 and the Ph.D in Chemical Engineering from the University of Porto in 1999. She started teaching in the Science and Technology Faculty of Fernando Pessoa University in 1995, and is Associate Professor in this University since October 2003.

Her main teaching interests are in the areas of Mathematics and Environmental Engineering, namely Air Pollution Control Technologies and Environmental Management Systems. Her research activity is carried out within the Institute for Systems and Robotics in the area of engineering and process systems

Since October 2000 she has been an industrial consultant for the implementation of Environmental Management Systems (EMS) according to the ISO 14001 Standard, and participated in several EMS audits. Research Interests Her research interests have been related to Environmental Engineering, mainly in the field of gaseous emission control technologies. In these area her research works have been directed to the purification of acid gases and particulate emissions in cyclone reactors, through experimental and modelling techniques.

Current and recent projects

• Recirculating cyclones: application to the dry scrubbing of acid gases, FCT POCTI/EQU/37992/2001 (2002-06).

Selected Publications (2002 - )

1. R.L.Salcedo, A.M.Fonseca, V.G.Chibante and G.Cândido, Fine Particle Capture in Biomass Boilers with Recirculating Gas Cyclones: Theory and Practice, Powder Technology 172, 91-100, 2006.

2. V. Martins and A.M.Fonseca, Technical Difficulties in Performing Industrial Solvent Management Plans. Proceedings of the 2nd International Conference on Environmentally-Compatible Forest Products, Porto – Portugal, 279-287, 2006.

3. V.G.Chibante; A.M.Fonseca. and R.L.Salcedo, Dry-Scrubbing of Acid Gases in Recirculating Cyclones, Proceedings of the 5th European Meeting on Chemical Industry and Environment, Vienna – Austria, 590-597, 2006.

4. R.L.Salcedo, A.M.Fonseca, V.G.Chibante and G.Cândido, Fine Particle Capture in Biomass Boilers with Recirculating Gas Cyclones: Theory and Practice. Proceedings of the 6th International Symposium and Exhibition of Gas Cleaning at High Temperatures, Osaka-Japan, 105-112, 2005

5. A.M. Fonseca, Environmental Management in Wood Processing Industries and the European Legislation on VOC Emission Control, Proceedings of the 1st International Conference on Environmentally-Compatible Forest Products, Porto - Portugal,.313-323, 2004.

6. A.M. Fonseca, J.M. Órfão and R.L. Salcedo, A new approach to kinetic modeling of the reaction of HCl with solid lime at low temperatures, Chem. Eng. Sci. 58(15), 3499-3506, 2003.

Ana Margarida Fonseca Lecturer Phone: (351)-22.507.1308, Fax: (351)-22.550.8269 E-mail: [email protected]


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Aníbal Castilho Coimbra de Matos received the PhD degree in Electrical and Computer Engineering from Universidade do Porto in 2001, the MSc degree from Universidade do Porto in 1994, and graduated in Electrical and Computer Engineering at Faculdade de Engenharia da Universidade do Porto (FEUP) in 1991. His academic career started in 1996 and, currently, he is Assistant Professor with the Electrical and Computer Engineering Department of FEUP and researcher in the Decision and Control Engineering Group of the Institute of Systems and Robotics. His main research interests are: Control Theory, Dynamic Optimization, and Autonomous Robotics.

Teaching Activities He taught a wide range of first degree engineering courses, such as: Calculus, Numerical Analysis, Classical Mechanics, Electromagnetics, Signals and Systems, Systems Theory, Digital Control, and Non-linear and Optimal Control.

Research Activities His main research area is Mobile Robotics, more specifically, navigation and control of Underwater and Surface Autonomous Vehicles. He has worked on the development and customization of Isurus – a Remus class AUV operated by Porto University, and on the navigation and control of underwater remotely operated vehicles. More recently, he has been working on advanced acoustic navigation solutions for underwater vehicles and on the development of modular underwater and surface vehicles.

Main Recent Projects • PO-ROBOT - Science for Stability program,

NATO- 1993-1999.

• Definition of Environmental Monitoring Missions in the Portuguese Coastal Waters for Autonomous Underwater Vehicles - Environment General Directorate/Praxis XXI – 1995-1999.

• Autonomous Robotics Methodologies for Multidisciplinary Applications: Industrial Production, Sea Sciences, Environment, Bio-Engineering, Defense – Praxis XXI – 1995 -1999.

• Control and Optimization of Hybrid Systems – Praxis XXI – 1997-2000.

• IES – System for the Inspection of Underwater Infrastructure – Praxis XXI – 1999-2002.

• PISCIS – Prototype of an Integrated System for Coastal Ocean Intensive Sampling – POCTI/POSI – 2002-2005.

• MUV – Navigation and Control of Multiple Underwater Vehicles – FCT/POSI – 2004/2007.

• INCORP – Improved Navigation with Cooperative Robotic Platforms – FCT/POSC – 2005/2008.

Selected Publications • F. L. Pereira, J. B. Sousa, A. C. Matos, "An

Algorithm for Optimal Control Problems Based on Differential Inclusions", Proceedings of CDC'95, New Orleans, USA, December 1995.

• A. Matos, N. Cruz, A. Martins, F. L. Pereira, “Development and Implementation of a Low-Cost LBL Navigation System for an AUV”, Proceedings of MTS/IEEE Oceans’99, Seattle, USA, September 1999.

• N. Cruz, A. Matos, A. Martins, D. Santos, J. Estrela, D. Boutov, D. Ferreira, F. L. Pereira, “Estuarine Environment Studies with Isurus, a Remus class AUV”, Proceedings of MTS/IEEE Oceans’99, Seattle, USA, September 1999.

• A. Martins, A. Matos, N. Cruz, F. L. Pereira, “IES – an open system for underwater inspection”, Proceedings do MTS/IEEE Oceans’99, Seattle, USA, September 1999.

• F. L. Pereira, A. C. Matos, G. N. Silva, “Hamilton-Jacobi Conditions for an Impulsive Control Problem”, Proceedings of NOLCOS’2001, S. Petersburg, Russia, July 2001.

Aníbal Castilho Coimbra de Matos Lecturer Tel: 351-22-508 1508, Fax: + 351-22-508 1443 Email: [email protected]

Personal URL: http://www.fe.up.pt/~anibal/


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• A. Matos, F. L. Pereira, “Hamilton-Jacobi Conditions for a Measure Differential Inclusion Control Problem”, Proceedings of the 12th Baikal 9International Conference – Optimization Methods and their Applications”, Irkutsk, Russia, 2001.

• N. Cruz, L. Madureira, A. Matos, F. L. Pereira, “A Versatile Acoustic Beacon for Navigation and Remote Tracking of Multiple Underwater Vehicles”, Proceedings of OCEANS’2001, Honolulu, USA, November 2001.

• P. Ramos, N. Cruz, A. Matos, M. V. Neves, F. L. Pereira, “Monitoring an Ocean Outfall using an AUV”, Proceedings of OCEANS’2001, Honolulu, USA, November 2001.

• A. Matos, F. L. Pereira, “Hamilton-Jacobi Conditions for a Class of Impulsive Control Problems”, Proceedings of the 10th Mediterranean Conference on Control and Automation – MED2002, Lisbon, Portugal, July 2002.

• J. Borges de Sousa, A. C. Matos, F. L Pereira, “Dynamic Optimization in the Coordination and Control of Autonomous Underwater Vehicles”, Proceedings of the Decision and Control Conference, Las Vegas, USA, December 2002.

• N. Cruz, J. Sousa, F. Pereira, A. Matos, E. Silva, J. Coimbra, E. Dias, “PISCIS: Multiple Autonomous Underwater Vehicles for Environmental and Oceanographic Field Studies”, Proceedings of Environment 2010: Situation and Perspectives for the European Union, Porto, May 2003.

• N. Cruz, A. Matos, J. Sousa, F. Pereira, J. Silva, E. Silva, J. Coimbra e E. Dias, “Operations with Multiple Autonomous Underwater Vehicles: the PISCIS Project”, Proceedings of the Second Annual Symposium on Autonomous Intelligent Networks and Systems, Palo Alto, E.U.A., June 2003.

• A. Matos, N. Cruz, F. L. Pereira, “Post Mission Trajectory Smoothing for the Isurus AUV”, Proceedings of OCEANS’2003, San Diego, USA, September 2003.

• A. Matos, N. Cruz, “Algorithms for External Tracking of an AUV”, Proceedings of IAV’04, Lisboa, July 2004.

• N. Cruz, A. Matos, J. Sousa, “Small size AUVs: Operation Results and New Mission Concepts”, Proceedings of IAV’04, Lisboa, July 2004.

• A. Matos, N. Cruz, “AUV navigation and guidance in a moving acoustic network”, Proceedings of the IEEE OCEANS’2005 Europe, Brest, France, June 2005.

• A. Matos, N. Cruz, “Simultaneous Acoustic Navigation of Multiple AUVs”, Proceedings of MCMC’2006, Lisboa, September, 2006.

• A. Santos, A. Matos, “WAVESIM – Water Vehicle Simulator”, Proceedings of MCMC’2006, Lisboa, September, 2006.


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António Paulo Gomes Mendes Moreira graduated with a degree in Electrical Engineering at the University of Oporto, in 1986. Then, he pursued graduate studies at the Oporto University, obtaining a MSc degree in Electrical Engineering - Systems in 1991, and a Ph.D. degree in Electrical Engineering in 1998. From 1986 to 1998 he also worked as an assistant lecturer in the Electrical Engineering Department of the Oporto University. Presently he is a Lecturer in Electrical Engineering, developing his research within the Control Systems and Technology Group group of the Institute for Systems and Robotics. His main research interest is Process Control and Robotics. He is a member of the 'Associação Portuguesa de Controlo Automatico' and ‘Sociedade Portuguesa de Robótica’. Research Interests His research work is centered on Process Control and Robotics. Process Control The control of fermentation is very important in order to ensure a sustained level of wine quality year after year. Usually wine fermentation is carried out at a constant temperature. This fact is due mainly to traditional reasons. Nevertheless the results year after year and from region to region may be very different due to large variations in must characteristics. A more complex control is needed to overcome these fluctuations. Recent works have introduced some innovation but still can not control the duration of fermentation. In this work a new control strategy is proposed: Relative density (predictive) control instead of temperature control. Robotics The Robot World Cup Soccer Games, RoboCup, is an international initiative to develop robotics research by providing a standard problem, a soccer game, where a wide range of technologies can be integrated and examined.

As a test bed for progressing the technology of multiple agent systems, Robocup serves to bring together teams of researchers in a cooperative environment. It is a condition of entry that teams must disclose the technology used in the creation of their teams.

Our system controls a team of five robots that play a football match against another team of robots. This system works autonomously while the game is playing. So it has to keep track of the robots’ position, using a camera and the necessary processing algorithms to extract that information, decide the actions to be performed by each robot and generate the trajectories and the controls associated with that action.

The R&D results from the 5DPO – FEUP/ISR RoboSoccer team are at the moment applied in several industrial protocols with the industry, namely in Industrial Robotics Systems. One patent is submitted and a commercial product developed.

Current Projects • 5DPO-2000 – FEUP/ISR RoboSoccer Team.

Team leader of F2000 league. Will participate in Robot European and World Cup Soccer games and conferences.

• FEUP/IFM/2006 – Project with IFM, SA, hardwood veneer and plywood industry. Artificial Vision based quality control system.

• FEUP/VICTORINDUSTRIAS/2006 – Project with VictorIndustrias, Lda, equipment developer for the ceramic industry. Robotic system with artificial vision.

• FEUP/FLUPOL/2006 - Project with Flupol, SA, specialist company in industrial applications of fluoropolymer coatings. Robotic system with artificial vision.

António Paulo Gomes Mendes Moreira Lecturer Phone: 351-22-508.1820; Fax: 351-22-508 1443 E-mail: [email protected]


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Selected Publications

1. "Continuous density measurement in fermenters: a model based approach", A. Paulo G.M. Moreira, J.L. Martins de Carvalho - 13th World Congress International Federation of Automatic Control, Vol. M. Pag. 313-318, 30 Junho a 5 de Julho de 1996, San Francisco, California, USA

2. “A Dynamical Model for Alcoholic Fermentation in Winemaking with Temperature Control”, A. Paulo G.M. Moreira, J.L. Martins de Carvalho - Proceedings of the 2nd Mathmod, Pag. 955-960, 5-7 February 1997, Technical University Vienna, Austria.

3. “A Thermal Model for Batch Fermenters”, A. Paulo G.M. Moreira, J.L. Martins de Carvalho - Proceedings of the 17th IASTED International Conference, Modelling, Identification and Control, pag. 325-327, 18-20 Fevereiro 1998, Grindelwald, Suiça

4. “Relative Density Predictive Control in Winemaking”, A. Paulo G.M. Moreira, J.L. Martins de Carvalho – 3rd Portuguese Conference on Automatic Controlo’ 98, Vol. I - pag. 93-97, 9-11 Setembro 1998, Coimbra, Portugal

5. “Vision Based Real-Time Localization of multiple Mobile Robots”, A. Paulo G.M. Moreira, Armando Sousa, Paulo Costa, - FSR 2001 – International Conference on Field and Service Robotics, pag. 103-106, 11-13 de Junho 2001, Ulm, Finlandia

6. “Control and Model Identification of a Mobile Robot’s Motor based in Least Squares and Instrumental Variable methods.”, André Scolari Conceição, A.Paulo Moreira, Paulo J. Costa, MMAR 2005 – Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics, Pag. 479-484, 29 August- 1 September 2005, Miedzyzdroje, Poland

7. “Self Localization of an Autonomous Robot: Using an EKF to merge Odometry and Vision based Landmarks”, Armando Jorge Sousa, Paulo José Costa, António Paulo Moreira, Adriano Carvalho, Pag. 227-234, ETFA'05 - 10th IEEE International Conference on Emerging Technologies and Factory Automation, Catania, Italy, 19-22 September 2005

8. “Dynamic parameters identification of an omni-directional mobile robot”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Proceedings of the 3rd International

Conference on Informatics in Control, Automation and Robotics- ICINCO2006, Setúbal, Portugal-August 2006, pages: 565-570

9. “Trajectory control and modelling of an omni-directional mobile robot”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics- ICINCO2006, Setúbal, Portugal-August 2006, pages: 412-417

10. “Controller Optimization and Modelling of an omni-directional mobile robot”, André Scolari Conceição∨, A. Paulo Moreira, Paulo J. Costa, CONTROLO’2006 - The 7th Portuguese Conference on Automatic Control, 11-13 September2006, Lisbon-Portugal.

11. “Trajectory tracking for Omni-directional Mobile Robots based on Restrictions of the Motor's Velocities”, André Scolari Conceição∨, A. Paulo Moreira, Paulo J. Costa, 8th International IFAC Symposium on Robot Control - Syroco 06, Santa Cristina Convent, University of Bologna (Italy), September 6 - 8, 2006

12. “Architecture of Cooperation for Multi-Robot Systems”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Luis Paulo Reis, First IFAC Workshop on Multivehicle Systems (MVS'06), Salvador, Bahia, Brasil, 3 a 6 de Outubro, 2006


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António Pina Martins graduated in Electrical Engineering at the University of Porto, in 1984. He became Research Assistant at the Faculty of Engineering of the University of Porto and obtained in 1990 a M.Sc. degree and in 1998 a Ph.D. degree, both in Electrical Engineering and Computers. Presently he is Assistant Professor in the Department of Electrical Engineering and Computers, developing his research within the Industrial Automation Group of the Institute for Systems and Robotics. His main interests are Intelligent Control Systems and Renewable Energy Systems. He is a member of the IEEE, 'Ordem dos Engenheiros'. Research Interests Our work is centered on intelligent control systems and renewable energy systems, specially wind and solar. Intelligent Control Systems

Our main directions of research are the following:

Intelligent control. Power electronics systems include non linear and unknown parameters. Also, the operation of some type of converters exhibit non linear characteristics. We develop studies in the application of fuzzy logic based control in such type of converters. Adaptation mechanisms and non linear control are the main work areas.

Supervision of power electronics systems. There are a lot of power electronics systems operating in parallel. In such condition, it is necessary to supervise the global system in order to optimize some operating characteristics. The high number of variables of the global system needs control algorithms implementing hierarchy and decoupling.

Intelligent diagnosis and maintenance. Multivariable monitoring systems generate huge amounts of data. Accurate and cost effective diagnosis and maintenance need intelligent tools in order to provide decision help. We study neuro-fuzzy and CBR algorithms capable of implementing such tools.

Renewable Energy Systems

In this subject, we develop studies in the next fields:

Active power filters. This type of converter is in the main element in the new era of high quality power. It leads to the concept of the Unified Power Flow Controller (UPFC)

capable of controlling the power flow (active and reactive) in a power line. The active power filter topologies (voltage and current source based in series and in parallel) and their control systems are the main line of research in this area.

Grid connection of renewable energy sources based on power electronics converters. Renewable energy sources are becoming more and more important in several ways. The generated electrical energy (through power electronics converters) should be injected in the mains power line in a controlled manner. The choice of the best converter topologies and the associated control methods are the main goals in this research line.

Power quality measurement and characterization. The concept of Power Quality relates to several electrical waveforms and parameters (voltage, current, active and reactive power, harmonics, power factor, energy, EMI, …). In this area we study the parameters characterizing the voltage, current and power in different operating conditions and in association with the applicable Norms and Standards.

Selected Publications 1. A. Martins, P. Costa, A. Carvalho, “Coherence

and Wakes in Wind Models for Electromechanical and Power Systems Standard Simulations”, European Wind Energy Conference, EWEC’06, 27 Feb-2 March, Athens, Greece, (2006)

2. P. Costa, A. Martins, A. Carvalho, “Wind Energy Extraction and Conversion: Optimization through Variable Speed Generators and Non Linear Fuzzy Control”, European Wind Energy Conference,

António Pina Martins Lecturer Phone: +351 22 508 1816; Fax: +351 22 508 1443 E-mail: [email protected] Personal URL: http://www.fe.up.pt/~ajm


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EWEC’06, 27 Feb-2 March, Athens, Greece, (2006)

3. A. Martins, J. Ferreira, “Robust Converter Synchronization to a Weak Grid Through a DFT-based Method”, International Conference on Renewable Energies and Power Quality, ICREPQ’06, 5-7 April, Palma de Maiorca, Spain, (2006)

4. J. Ferreira, A. Martins, “An Improved Technique for the Estimation of Local Frequency, Fundamental Component Phasor and Instantaneous Symmetrical Components”, International Conference on Renewable Energies and Power Quality, ICREPQ’06, 5-7 April, Palma de Maiorca, Spain, (2006)

5. C. Ramos, A. Martins, A. Carvalho, “DSP plus FPGA based Control Platform for High Performance Power Electronics Converters and Systems”, European DSP Education and Research Symposium, EDERS’06, 4 April, Munich, Germany, (2006)

6. N. Silva, A. Martins, A. Carvalho, “Design and Evaluation of a PWM Rectifier Control System for Testing Renewable DC Sources Connected to the Grid”, International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM’06, 23-26 May, Taormina, Italy, (2006)

7. C. Ramos, A. Martins, A. Carvalho, “Synchronizing Renewable Energy Sources in Distributed Generation Systems”, International Conference on Renewable Energy and Power Quality, ICREPQ’05, Zaragoza, 2005, pp.1-5.

8. C. Ramos, A. Martins A. Carvalho, “Issues on Synchronizing Power Converters Connected to a Weak Grid”, Congresso Brasileiro de Electrónica de Potência, COBEP’05, 14-17 June 2005, Recife, Brasil, 2005.

9. P. Costa, A. Martins, A. Carvalho, “Optimizing Wind Energy Capture. Expanding the Speed Range with the Doubly Fed Induction Generator”, WindTech International, May/June 2005.

10. P. Costa, A. Martins, A. Carvalho, “Expanding Range of Rotational Speed of Induction Generator in Wind Energy”, 7th German Wind Energy Conference, DEWEK’04, Wilhelmshaven, Germany, October, pp.1-4, (2004).

11. P. Costa, A. Martins, A. Carvalho, “Optimization of energy generation in wind farm through fuzzy control”, European Wind

Energy Conference & Exhibition, EWEC’04, London, UK, November, pp.1-6, (2004).

12. H. Azevedo, J. Ferreira, A.P. Martins, A.S. Carvalho, “Direct Current Control of an Active Power Filter for Harmonic Elimination, Power Factor Correction and Load Unbalancing Compensation”, 10th European Conference on Power Electronics and Applications, EPE’03, Toulouse, 1-10, (2003).

13. A.P. Martins, “The Use of an Active Power Filter for Harmonic Elimination and Power Quality Improvement in a Nonlinear Loaded Electrical Installation”, International Conference on Renewable Energies and Power Quality, ICREPQ’03, Vigo, 1-6 (2003).

14. C.J. Ramos, A.P. Martins, A.S. Araújo, A.S. Carvalho, “Current Control in the Grid Connection of the Double-Output Induction Generator Linked to a Variable Speed Wind Turbine”, 28th Annual International Conference of the IEEE Industrial Electronics Society, IECON’02, Sevilha, 1-6 (2002).

15. A.S. Carvalho, A.P. Martins, “Fuzzy Control for Parallel Operation of Power Multi-Sources”, Sixth European Space Power Conference, ESA’2002, Porto, 209-216 (2002).

16. A.P. Martins, A.S. Carvalho, “Fuzzy Controllers with Reduced Rulebases and Real-Time Capability for Power Systems Supervision”, Electric Power Components and Systems, Vol. 29, nº12, 2001, 1145-1159 (2001).

17. A.P. Martins, A.S. Carvalho, “Fuzzy Adaptive Control Methods for Power Electronics Applications”, 9th European Conference on Power Electronics and Applications, EPE’01, Graz, 1-10 (2001).


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Armando Araújo graduated with a degree in Electrical and Computers Engineering at the Faculty of Engineering of Oporto University, in 1984. He continued his graduate studies at the same Faculty obtaining in 1990 a M.Sc. Eng. degree and in 1998 a Ph.D. degree, both in Electrical and Computers Engineering. Since 1984 he works for the Electrical and Computers Engineering Department of the Faculty of Engineering of Oporto University. Presently he is an Assistant Professor in Electrical and Computers Engineering, developing his research activities within the Industrial Automation Group of the Institute for Systems and Robotics. His main interests are Power Electronics Semiconductors and Converters Modeling, Control and Simulation. He is a member of the Portuguese 'Ordem dos Engenheiros', of 'APCA-Associação Portuguesa de Controlo Automático' of the NIST's Working Group in Model Validation and of the IEEE. Research Interests Our work is centered around power electronics semiconductors and converters control and simulation. Power Electronics Semiconductors Control and Simulation Here the main goal is the development of power semiconductors models, with a good description of its dynamic and static behavior, such that it can be used in SPICE like circuit simulation tools. A finite element based technique, already developed, has enabled modeling, and SPICE simulation, of power p-I-n Diode, Bipolar Junction Transistor-BJT and Insulated Gate Bipolar Transistor, IGBT. We are currently working in electro thermal modeling and automatic parameter identification for the developed power semiconductor models. Converter Control and Simulation Here the main goal is the development of new converter topologies, and controllers, applied to efficient conversion of renewable energies, wind, ocean waves and sun. Current Projects Power Electronics Semiconductors Control and Simulation We have finished power p-I-n Diode, Bipolar Junction Transistor-BJT and Insulated Gate Bipolar Transistor models, as well as, an automatic parameter identification for all IGBT model parameters.

We are currently working in electro thermal simulation of power p-I-n diodes, as well as, automatic parameter identification for power p-I-n diodes and BJTs. We intend, in the near future, to do a gate turn-off Thyristor, GTO, model, to apply finite element methods in the development of electro thermal models for all studied semiconductors, and to apply the automatic parameter identification technique, already used in IGBTs, to the remaining power semiconductors. Converter Control and Simulation Currently we are involved with the application of a slip energy recovery system in wind generators.

Selected Publications [1] Rui Chibante, Armando Araújo, Adriano

Carvalho, “NPT-IGBT modeling using a FEM formulation and optimization-based parameter extraction procedure”, in Proceedings of the 1st Euro-Latin American Workshop on Engineering Systems, Trujillo, Peru, 2005.

[2] Rui Chibante, Armando Araújo, Adriano Carvalho, “A FEM Punch-Through IGBT Model Using an Efficient Parameter Extraction Method”, in Proceedings 31st Annual Conference of the IEEE Industrial Electronics Society, 2005.

[3] Rui Chibante, Armando Araújo, Adriano Carvalho, “Modeling Buffer Layer IGBTs with an Efficient Parameter Extraction Method”, in 36th IEEE Power Electronics Specialists Conference, 2005.

Armando Araújo Lecturer Phone: 351-22-204.1816; Fax: 351-22- 204.1632 E-mail: [email protected]


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[4] Armando Araújo, Adriano Carvalho, “A variational ADE (ambipolar diffusion equation) formulation and its finite element solution with applications to power semiconductors teaching and simulation”, in SPEEDAM 2004, Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2004.

[5] Armando Araújo, Adriano Carvalho, Rui Chibante, “A Simple and Efficient Parameter Extraction Procedure for Physics Based IGBT Models”, in EPE-PEMC, 11th International POWER ELECTRONICS and MOTION CONTROL Conference, 2004.

[6] Rui Chibante, Armando Araújo, Adriano Carvalho, “A New Physics Based SPICE Model for NPT IGBTs”, in The 29th Annual Conference of the IEEE Industrial Electronics Society, 2003.

[7] Armando Araújo e Adriano Carvalho “SPICE Implementation of a FEM Based Model for Bipolar Power Semiconductors”, in Proceedings of the EPE 2003-Tenth EPE Conference, Toulouse (France), 2003.

[8] Armando Araújo, Adriano Carvalho e Rui Chibante, “A New Physics Based SPICE Subcircuit Model for Insulated Gate Bipolar Transistors (IGBTs)”, in Proceedings of the EPE 2003-Tenth EPE Conference, Toulouse (France), 2003.

[9] Armando Araújo, Adriano Carvalho e Rui Chibante, ”A New Physics Based SPICE Model for NPT IGBTs”, in Proceedings of the IECON 2003.

[10] Carlos Ramos, António Pina Martins, Armando Araújo, Adriano Carvalho, “Current Control in the Grid Connection of the Double-Output Induction Generator Linked to a Variable Speed Wind Turbine”, in Proceedings of the IECON'02, pp. 979-984, 2002.

[11] Armando Araújo, “Power p-I-n Diode and BJT FEM based model implementation for ICAPS circuit simulator”, in Proceedings of the 2nd Online Symposium for Electronics Engineeers, 2002.


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Armando Jorge Sousa is graduated in Electrical and Computer Engineering, Faculty of Engineering of University of Porto (FEUP), 1994. He pursued graduate studies at University of Porto, obtaining in 1997 his Ms. C. degree and, after that, in 2004 he received his Ph. D. degree. He started a full-time academic career in 1997 in the ISEP engineering polytechnical Institute of Porto. Later, in joined the FEUP teaching staff and presently he is an Associate Professor in Electrical and Computer Engineering Department. He is a permanent researcher in the Institute for Systems and Robotics (ISR). His main interests are Data Fusion, Robotics, Vision Sensors and general Automation and Control. He is a frequent participant in the RoboCup Robotic Soccer scientific competitions and a number of other robotics events.

Research Interests Research interests can be summed up in the following categories with the presented rationale.

Data Fusion Systems

Advanced Kalman Filters and other non-linear estimators –these methods merge available information in one coherent piece of information.

Vision

Cameras and catadioptric vision systems under Real Time (RT) constraints – real time image processing for retrieving important metric, structural and color information. These systems are important remote sensing methods.

Robotics

Architecture and effective autonomy of mobile robotic platforms in lone operation or working cooperatively –autonomous robots are machines with effective capability of decision on complex scenarios. These systems use data fusion for building a coherent world state including a localization estimate. These structures are the basis upon which to build complex decisions trees, thus augmenting effective autonomy.

Frequent sources of information include odometry and several remote sensors including a large variety of information retrieved from Vision sensors such as catadioptric systems.

Automation

Integration of systems within the factory shop floor –integration of autonomous mobile robots and fixed automation systems have specific challenges must be adequately formulated.

Control

Conventional and advanced control methods are needed for dealing with real systems with complex

dynamics such as mobile vehicles. Special interest in the fuzzy logic control methodologies.

Selected Publications 1. António Paulo Moreira, Armando Jorge

Sousa, Paulo Gomes da Costa, Vision Based Real-Time Localization Of Multiple Mobile Robots - Proceedings of the 3rd Int. Conf. on Field and Service Robotics, pp.103-106, 2001

2. Armando Jorge Sousa, Paulo Gomes da Costa, António Paulo Moreira Variable Resolution System in Mobile Robotics Proceedings of Controlo 2002, 5th Portuguese Conference on Automatic Control, pp.489-494, 2002

3. José Coutinho Sampaio, Fernando Azevedo, Armando Jorge Sousa, João Ferreira, João Aguiar, Jorge Teixeira Silva - Sistema Automático de Controlo Dimensional de Cantoneiras Baseado e Visão artificial ROBÓTICA, nº 54, pp.4-9, 2004

4. Armando Jorge Sousa, Paulo José Costa, António Paulo Moreira, Adriano Carvalho Self Localization of an Autonomous Robot: Using an EKF to merge Odometry and Vision based Landmarks in Proceedings 10th IEEE International Conference on Emerging Technologies and Factory Automation, pp.227-234, 2005

Armando Jorge Sousa Lecturer Phone: 351 22 508 1815; Fax: 351 22 508 1443 E-mail: [email protected] Web Site: http://www.fe.up.pt/~asousa


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5. Adriano Carvalho, Armando Jorge Sousa Embedded Fuzzy Logic Controller for Drying Oil Filled Transformers in Proceedings of the International Symposium on Industrial Electronics, pp.1147-1150, 1997

6. Armando Jorge Sousa Sistema de Localização de Robôs Móveis Baseado em Filtro de Kalman Extendido, PhD. Thesis, FEUP, 2004

7. Armando Jorge Sousa Desenvolvimento de Controlador Avançado para Sistema Embebido, MsC. Thesis, FEUP, 1996


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Artur Cardoso graduated with a degree in Electrical Engineering from the University of Luanda, Angola, in 1973. He pursued graduate studies at Syracuse University, USA, obtaining in 1982 a M. Eng. degree and in 1987 a Ph.D. degree, both in Electrical Engineering. Returning to Portugal, he took the position as lecturer in the Electrical and Computer Engineering Department of the Faculty of Engineering of the University of Porto. He participated in two European Community projects (CNMA and FICIM) between 1988 and 1992, in the second as the technical manager for the University of Porto team. He has been a member of the research staff of the Institute for Systems and Robotics since its foundation. His main interests are electronics, instrumentation and sensor level networks.

Research Interests

My interest is centered on low-level (sensor/actuator) digital networks, and on signal acquisition systems for various areas (automation, automotive, medical). Selected Publications "Defining a More Efficient Transfer Syntax for Application Layer PDUs in Field Bus Applications", A. Cardoso, E. Tovar, ACM Computer Communications Review, Vol. 22, Number 3, July 92, pp. 99-105.

"On Mapping a Field Bus Network into a MMS Server", E. Tovar, A. Cardoso, 2ème Proceedings of the 2nd International Conference on Industrial Automation, pp. 267-273, 7-9 July 1995, Nancy, França, C. Humbert editor., ISBN 2-980 2946-1-6

"A Generic ASIC and DSP Based Ambulatory Electrophysiological Recorder" B. R. Hayes-Gill, A. C. Cardoso, N. Meinke, J. Crowe, B. Francon, A. Harrison, IEE Colloquium on Data Logging of Physiological Signals, 23 November 1995, London.

"On Synchronizing Confirmed Peer Application Layer Services in a Gateway Using MMS in Asynchronous Mode", E. Tovar, A. Cardoso, pp. 150-156, Proceedings 1995 International Symposium on Synchronization, 14-15 December 1995, Essen, K. A. Immink e A. J. Vinck editors

"Event Driven Field Bus Networks: On the Integration into CIM environment", A. Cardoso, E. Tovar, Proceedings WODES´96, International Workshop on Discrete Event Systems, 19-21 August 1996, Edinburgh, IEE Publication ISBN 0 85296 664 4.

"Guaranteeing DCCS Timeliness Requirements Using P-NET Fieldbus Networks", Eduardo Tovar, Francisco Vasques, Artur Cardoso, Proceedings of the 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'99), Barcelona, Spain, 18-22 October,1999.

“Learning the basics of analogue-to-digital conversion - an experimental approach”, Artur Cardoso, Aurélio Campilho, Proceedings of the VII IMEKO World Congress, Dubrovnik, Croatia June 22−27, 2003.

“Electronic circuits parametric measurement: A new approach in electrical metrology”, José Carlos Oliveira, Diamantino Silva Freitas, Artur Capelo Cardoso, , Proceedings of the VII IMEKO World Congress, Dubrovnik, Croatia June 22−27, 2003.

“An electronic instrumentation course for non-electronic engineering students”, Aurélio Campilho, Artur Cardoso, International Journal of Electrical Engineering Education, ISSN: 0020-7209, Volume 41 Issue 1, January 2004, pp 43-55.

Artur Cardoso Lecturer Phone: +225081805; Fax: +225081443 E-mail: [email protected]


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Catarina Delgado graduated with a degree in Electrical Engineering at the University of Porto, in 1996. Immediately after her graduation she went to Faculty of Economics to teach Operations Research. She pursued graduate studies at the Oporto University, obtaining a Ph.D. degree in Electrical Engineering in 2004. Presently she is a Lecturer in Operations Research, Project Management, Supply Chain Management, International Operations Management and Optimization at the Faculty of Economics of the University of Porto, developing her research within the Control Systems and Technology Group group of the Institute for Systems and Robotics. Her research interests are System Identification, Multivariate Data Analysis, Hypergame theory and Forecasting. She is a member of the IEEE, APCA, APDIO and AoM. Research Interests Her main research work within the Control Systems and Technology Group group of the Institute for Systems and Robotics is centered on System Identification.

System Identification. Her main line of pursuit has been the development of System Identification algorithms for control.

In the last years she has focused her research on Time Domain Identification, namely, on the development of new Subspace State Space Identification Algorithms for Linear Parameter Varying systems. Linear Systems Identification is nowadays a mature subject, grounded on a solid theory. It has developed a large number of computational tools that may be successfully applied to different real-life applications such as industrials processes, aeronautic engineering, biological systems, etc.. Despite the complexity of these applications, in most situations the linear framework provides satisfactory linear models. However, in many instances linear models are insufficient to describe the nonlinear behavior of a significant number of complex real world systems. Unfortunately, the tools for dealing with nonlinear systems have not reached the level of maturity that their linear counterparts have. This is due in part to the fact that most linear systems tools do not carry over to the nonlinear case. The spectrum of tools for dealing with systems in general is quite broad, ranging from the linear on one extreme to the fully nonlinear on the other extreme. In the middle of the spectrum we find bilinear systems. The tools for dealing with bilinear systems are similar to those of linear systems, except that their linearity is either restricted to a higher dimensional vector space or solved iteratively as linear systems.

In the last few years, Catarina Delgado has been focused in corporate finance and trading systems and in the use of subspace aystem techniques, along with hypergame theory and multivariate data analysis.

Current Projects

• Subspace System Identification and hypergames theory applied to trading systems.

Selected Publications 1. Catarina J. M. Delgado, P. Lopes dos

Santos, J. L. Martins de Carvalho "Numerical Algorithm for Recursive Subspace Identification",CDC 98 - 37th Conference on Decision and Control, December 16-18, 1998, Tampa, Florida, U.S.A.

2. Catarina J. M. Delgado, P. Lopes dos Santos, P., J. L. Martins de Carvalho, “A New Approach to the Estimation of the Input Matrices Subspace Identification Algorithms”, Proceedings of the 43rd IEEE Conference on Decision and Control.

3. Catarina J. M. Delgado, P. Lopes dos Santos e J. L. Martins de Carvalho, “A New Insight to the Matrices Extraction in a MOESP Type Subspace Identification Algorithm” Int.l Journal of Syst. Science, Vol. 37, Nr 8, 20 June 2006, pp 565 – 574.

Catarina J. M. Delgado Lecturer Phone: 351-22-557 1296; Fax: 351-22- 550 5050 E-mail: [email protected]


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Eduardo Alexandre Pereira da Silva received the PhD degree in Electrical and Computer Engineering from Universidade do Porto in 2003, the MSc degree from Universidade do Porto in 1999, and graduated in Electrical and Computer Engineering at Faculdade de Engenharia da Universidade do Porto (FEUP) in 1986. His academic career started in January 1991 and, currently, he is Assistant Professor with the Electrical and Computer Engineering Department of ISEP and researcher in the Decision and Control Engineering Group of the Institute of Systems and Robotics. His research work falls in the following areas: Discrete and Hybrid Systems, Autonomous and Distributed Systems Applications and Embedded Systems applied to Robotics . Teaching Activities He taught a wide range of first degree and master engineering courses, such as: Systems Theory, Digital Control, Real-Time Systems, Distibutedand Real-time Control Systems and Autonomous Systems. Research Activities The backbone of his research strategy is to minimize the gap between the body of results in Systems and Control Theories and the requirements of problems arising in Systems and Control Engineering. This motivated the effort in the:

a) development or refinement of formal frameworks and results;

b) advancement of design engineering methodologies systematizing the design process, and the,

c) development autonomous systems prototypes.

In what concerns a), results have been obtained for the following issues: Framework for Hybrid (continuum-time, discrete event) Systems Design and Control.

As for b), the involvement in concrete engineering research projects has been playing a critical role. These involved: Distributed Autonomous System for a Semi-structured Environment, Coastal Oceanography based on Multiple Autonomous Underwater Vehicles, System for the Inspection of Underwater Infra-structures and the Control and Evaluation of a Mobile Offshore Base.

In what concerns c), the involvement in concrete engineering research projects has been an oportunity to develop a soccer robotics team (Iseporto team), UAV's and UAV's prototypes.

Key institutional R&D Cooperation include: Verimag, Karlsruhe University, Instituto de

Ciências Biomédicas Abel Salazar, Instituto Superior Técnico,

Faculdade de Ciências e Tecnologia da Universidade de Coimbra, and Universidade do Minho.

He participated in ca 10 international technical-scientific meetings, the organization of 3 international workshops, the organiztion of 1 National Robotics Festival, and the IPC of 2 international conferences. He has been regularly reviewing scientific and technical articles for conferences.

Main Recent Projects • FALCOS- Flight Autonomous Light

Cooperative Observation System

Funding Institution: ISEP/IPP

Duration: Since January 2003

• ROAZ – Autonomous surface vehicle for coastal and estuarine operations.

Funding Institution: ISEP/IPP

Duration Since January 2005

• MUV – Integrated Navigation and Control for Multiple Underwater Vehicles

Funding Institution:FCT – Fundação para a Ciência e a Tecnologia, reference POSI/SRI/47351

Duration: 01/05/2004 to 31/04/2007

• BOAVISTA – A dedicated vision system for autonomous mobile robot navigation

Funding Institution:FCT – Fundação para a Ciência e a Tecnologia, reference POSI/ROBO/43914/2002

Duration: 01/11/2003 to 30/06/2006

Eduardo Alexandre Pereira da Silva Lecturer Tel: 351-22-8340500, Fax: + 351-22-8321159 Email: [email protected] Personal URL: http://www.dee.isep.ipp.pt/~eaps/


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• IsePorto- Soccer Robotic Team IPP/ISEP funded project

Funding Institution: IPP, reference IPP/PR-49/2003

Durations: Since 2003

Selected Publications • On the Design of a Control Architecture For an

Autonomous Mobile Robot”, chapter 15 in Advances In Intelligent Autonomous Systems, ed. by S. Tzafestas, Kluwer Academic Publis, 1999, 28 pages (co-authors: F. Lobo Pereira, J. Borges de Sousa

• "Design of the ISePorto Robocup Middle-Size League Robotic Soccer Team: Control, Localisation and Coordination", Procs. Mediterranean Conference on Control, Lisbon, Portugal, July 2002 (co-authors: Martins, A., Almeida, J. and Baptista, J.)

• “Control and Localisation for the IsePorto Robotic Soccer Team, International Conference On Advanced Robotics, Julho, Coimbra, Portugal, 2003

• “Distributed Sensor and vehicle Networked systems for Environmental Applications, In Biologi Italian, Organo Ufficiale deli'Ordine Nazionale dei Biologi, Anno XXXIII, n.8, Settembre 2003 (co-authors: João B. Sousa, F. Lobo Pereira, P.F. Souto, A.T.Puga, L. Madureira).

• “Coordinated Maneuver for Gradient Search using Multiplos AUV's” in procs MST/IEEE Oceans 2003, San Diego, 2003. (co-authors: Martins, A. and Almeida, J.)

• Alfredo Martins, José Almeida, Eduardo Silva and Fernando L. Pereira, “Hybrid Maneuver for Gradient Search with Multiple Coordinated AUVs ”, The 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, July 5 - 7, 2004, Instituto Superior Técnico, Lisbon, Portugal.

• Sérgio Fraga, R. M. F. Gomes, Alexandre Sousa, Sérgio Loureiro Fraga, Alfredo Martins, J. Borges de Sousa , Fernando Lobo Pereira, “A New ROV Design: Issues on Low Drag and Mechanical Symmetry”, Oceans 2005 MTS/IEEE, Washington DC, EUA, September 20-23, 2005

• Silva H., Almeida J., Lima L., Martins A., Silva E., Patacho A.: “ LSAVision Real Time Framework Architecture for mobile robotics”. In: Computational Modelling of objects

represented in images Fundamentals, Methods and Applications CompIMAGE2006, October 2006.

• José Almeida, Alfredo Martins, Eduardo Silva, Fernando Lobo Pereira: “On Design of Simultaneous Control, Navigation for Robotic Formations”, MFI 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Heidelberg, Germany, September 2006.

• Alfredo Martins, José Almeida, Eduardo Silva, F. L. Pereira “Vision-based Autonomous Surface Vehicle Docking Manoeuvre”, MCMC2006 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, September 2006.


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Fernando Manuel Ferreira Lobo Pereira is Full Professor in Control, Automation and Industrial Production Systems and is the current elected director of the Institute for Systems and Robotics – Porto. He leads the Decision and Control Engineering research group (GEDC) of the Institute for Systems and Robotics- Porto (ISRP) R&D unit and coordinates the Automation, Control and Industrial Production Systems Section of the Electrotechnical and Computers Engineering Department (DEEC) of Faculty of Engineering of Porto University (FEUP). He received the "Agregação" (habilitation) degree in Electrotechnical and Computer Engineering from Porto University, the PhD degree in Control Theory from Imperial College of Science and Technology, London University, in 1986, the equiv. to Master Eng. degree from University of Porto in 1982, and graduated in Electrotechnical Engineering at FEUP in 1980. He is a member of IEEE, SIAM, APCA, AMS, INFORMS, SPM, and OE. His research work falls in the following areas: Control Theory (Non-smooth Analysis, Dynamic Optimization, Impulsive Control), Hybrid Systems, and Coordinated Control, and their application to control problems in Networked Systems. Research Activities His research activity has been aiming at developing a body of results in Systems and Control Theories - especially, Dynamic Optimization, Non-smooth Analysis, Nonlinear Control, Hybrid Systems and Networked Control – having in mind the requirements of emerging control problems arising in Decision and Control Engineering. This motivated the effort of his 25 researcher strong GEDC R&D Group in the development of results, and design methods for Hybrid Systems (time and event driven dynamic systems) Design and Control, Optimal Control of Impulsive Systems, Synthesis of Control Strategies for Differential Switching Games, Algorithms for Optimal Control, and Approximation of Reachable Sets. Engineering design methodologies have been developed through the involvement in engineering research projects which encompassed: Decision Support Systems for Manufacturing Systems, Models for Enterprise Cooperation and Competition, Autonomous Transportation System for a Semi-structured Industrial Environment, Coastal Oceanography based on Multiple Autonomous (Air, Surface and Underwater) Vehicles, as well as Inspection, Monitoring and Surveillance of Underwater Infra-structures. He has been expert adviser of EU to follow up funded research projects and evaluator of R&D proposals submitted to the EU programs.

Teaching Activities He taught a wide range of first degree, master and doctoral engineering courses, such as: Mathematical Analysis, Optimal Control, Optimization, Nonlinear Control, Multivariable Control, Hierarchical Control, Discrete-Event Systems, Operations Management and Control, and Mobile Robotics. He completed the

supervision of 26 MSc and 7 PhD theses (with 9 underway) and organized more than 40 advanced education courses. He participated in 90 postgraduate examinations.

Institutional R&D Cooperation Research activities have been performed in cooperation with the following research institutions: University of California at Berkeley, Universidade Estadual de São-Paulo, UNICAMP, Moscow State University, Peoples Friendship University of Russia, Baikal State University of Economics and Law, Institute of Dynamic Systems and Control Theory (Irkutsk), Imperial College of Science, Technology and Medicine, Woods Hole Oceanographic Institution, Naval Postgraduate School (Monterey), Massachusetts Institute of Technology, Instituto de Ciências Biomédicas Abel Salazar, Instituto Superior Técnico, Faculdade de Ciências e Tecnologia da Universidade de Coimbra, Universidade do Minho Rensselaer's Polytechnic Institute, Karlsruhe University, National Technical University of, Athens, Pontifícia Universidade Católica do Rio de Janeiro, INRIA-Sophia Antipolis, and Oxford University.

He participated in ca 120 international technical-scientific meetings, the organization of 3 international workshops, and the IPC of 30 international conferences. He has been regularly reviewing scientific and technical articles for conferences and journals such as: Automatica, SIAM J. control and Optimization, IEEE J. Robotics & Autom., Math. of Industrial Systems, Annals of Operations Res., IEEE Robotics and Autom. Mag., Int. J. of Intelligent Control & Systems. Besides numerous technical reports he (co)-authored more than 250 scrutinized scientific and technical pieces of R&D work and was cited in more than 100 publications of other authors.

Fernando Manuel Ferreira Lobo Pereira Professor Phone: + 351 22 508 1857/1539 Fax: + 351 22 5081443 E-mail: [email protected] Personal URL: http://fe.up.pt/~flp


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Main Research Projects • MARINE - Maritime Incident Research and

Innovation Network–INTERREG IIIB, 2007-09 • KOS – Kit de Operações Sub-aquáticas – POSI,

2005-07 • PISCIS - Prototype of an Integrated System for

the Coastal Ocean Intensive Sampling, Praxis XXI /POCTI, 2002-05.

• VIDOP – Vendor Integrated Decentralized Optimization of Production Facilities – EU IST Program, 2001-03.

• IES – System for the Inspection of Underwater Infrastructure – Praxis XXI, 2001-05.

• CorDyAL – Coordinated Control of Dynamically and Logically Constrained Systems– Praxis XXI, 2000-03.

• Analysis and Design of Hybrid Systems: Application to the Coordination and Control of Multiple Autonomous Underwater Vehicles – FLAD/NSF – 1998-2002.

Selected Publications 1. F. Lobo Pereira, G. Silva, “Invariance for

Impulsive Control Systems”, Autom. & Remote Control, accepted for publication in 2006.

2. J. Sousa, F. Lobo Pereira, “A set-valued framework for coordinated motion control of networked vehicles, J. Computer & Systems Sciences Int., 45(2), pp. 824-830, 2006.

3. F. Lobo Pereira, G. Silva, “Optimality Conditions for Asymptotically Stable Control Processes”, Int. J. of Tomography & Statistics, 6 (2), 2006, pp. 127-132

4. V. Baturin, E. Goncharova, F. Lobo Pereira, J. Sousa, “Polyhedral approximations to the reachable set of impulsive dynamic control systems”, Autom. & Remote Control, 69 (3), 2006, pp. 8–19.

5. A. Arutyunov, F. Lobo Pereira, “Second-order necessary optimality conditions for problems without a priori normality assumptions”, Mathematics of Operations Research, INFORMS, 31 (1), 2006, pp 1-12.

6. A. Arutyunov, D. Karamzin, F. Lobo Pereira, “A Nondegenerate Maximum Principle for the Impulsive Control Problem with State Constraints”, SIAM J. Control & Optim., 43 (5), 2005, pp. 1812–1843.

7. A. Arutyunov, V. Dykhta, F. Lobo Pereira, “Necessary conditions for impulsive nonlinear optimal control problems without a priori normality assumptions”. J. Optimization Theory & Applications, 124 (1), 2005, pp 55 –77.

8. A. Arutyunov, F. Lobo Pereira, “Necessary Extremum Conditions without Making a priori Normality Assumptions”, Russian Doklady Mathematics, 71 (3), 2005, pp. 442-446.

9. F. Lobo Pereira, J. Sousa, “Coordinated Control of Networked Vehicles: An Autonomous Underwater System”, J.. Automation & Remote Control, 65 (7), 2004, pp. 1037-1046.

10. F. Lobo Pereira, G. Silva, “Lyapounov Stability of Measure Driven Differential Inclusions”, J. of Differential Equations, 40(8),2004, pp.1122–30.

11. A. Arutyunov, V. Jacimovic, F. Lobo Pereira, “Second order necessary conditions of optimality for impulsive control problems”, Int. J. Dynamic Control Syst., 9, 2003, pp. 131-153.

12. J. Borges de Sousa, F. Lobo Pereira, P. F. Souto, L. Madureira e E. Pereira da Silva, “Distributed sensor and vehicle networked systems for environmental applications”, Biologi Italiani, 8, 2003, pp. 57-60.

13. F. Lobo Pereira, G. Silva, “Stability for impulsive control systems”, Dynamical Systems, an Int. Journal, 17, 2002, pp. 421-434.

14. F. Lobo Pereira, A. de Matos, G. Nunes Silva, “Hamilton-Jacobi Conditions for an Impulsive Control Problem”, Nonlinear Control Systems, A.Kurzhanski, A.Fradkov, 2002, pp. 1297-1302.

15. J. Sousa, F. Lobo Pereira, “A Differential Game with Graph Constrained Switching Strategies”, Nonlinear Control Systems, A. Kurzhanski & A. Fradkov, 2002, pp. 887-892.

16. F. Lobo Pereira, G. Silva, “Stability for impulsive control systems”, Dynamical Systems - an Int. Journal, 17 (4), 2002, pp. 421-434.

17. F. Lobo Pereira, “Control Design for Autonomous Vehicles: A Dynamic Optimization Perspective”, European Journal of Control, 7, 2001, pp. 178-202.

18. F. Lobo Pereira, G. Silva, "Necessary Conditions of Optimality for Vector-Valued Impulsive Control Problems", Systems and Control Letters, Elsevier, 40, 2000, pp. 205-215.

19. F. Lobo Pereira, “A Maximum Principle for Impulsive Control Problems with State Constraints”, Int. J. of Comp. & Appl. Maths, 19 (2), 2000, pp. 1-19.

20. E. Silva, F. Lobo Pereira, J. Sousa, “On the Design of a Control Architecture For an Autonomous Mobile Robot”, chapter 15 in Advances In Intell. Autonomous Syst., ed. S.G. Tzafestas, Kluwer Academic Publ., 1999.

21. F. Lobo Pereira, J. Sousa, "On the receding horizon hierarchical optimal control of manufacturing systems", J. Intelligent Manuf. Syst., 8, 1997, pp. 425-433.

22. F. Lobo Pereira, C. Pedreira, J. Sousa, "A New Optimization Based Approach to Experimental Combination Chemotheraphy", Frontiers of Medical & Biol. Eng., 6 (4), 1995, pp. 257-268.

23. E. Silva, F.Lobo Pereira, J.Sousa, "A Blackboard Approach to Mission Management of AUVs”, Appl. Artif. Intell. Eng. VIII, 2, G. Rzevski, J. Pastor, R. Adey, Elsevier, 1993, pp. 463-77.

24. R. Vinter, F. Lobo Pereira, “A Maximum Principle for Optimal Processes with Discontinuous Trajectories", SIAM J. Control & Optim., 26, 1988, pp. 205-229.


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Fernando Rocha graduated with a degree in Chemical Engineering from the University of Porto, in 1975. In 1984 he obtained a Ph.D. degree in Chemical Engineering at the Faculty of Engineering of the University of Porto. Since 1984 he has worked as an assistant professor for the Chemical Engineering Department of the University of Porto. In 1991 he obtained a MBA degree at the University of Porto. Presently he develops his research within the Process Systems Engineering group of the Institute for Systems and Robotics. His main interests are Separation Processes, namely Crystallization and Mass Transfer in Multiphase Reactors. He is a member of the Portuguese 'Ordem dos Engenheiros’ and of Sugar Industry Technologists. Research Interests Our work is centered on crystallization and multiphase reactors. Crystallization. Our main line of pursuit has been the modelling and optimization of crystallization processes. Two different works are currently under way. In one of them we are studying the precipitation of dicalcium phosphate. The objective is to determine the kinetics of nucleation, growth and agglomeration of that process. In the other we are studying the crystallization of sucrose. Here we are interested in agglomeration phenomena and impurity transfer mecanisms. This study is being carried using image analysis methods and techniques. The effect of industrial impurities in the nucleation, growth and agglomeration kinetics is also being studied. Multiphase reactors. The purpose is the study of mass transfer phenomena in multiphase reactors, namely the diffusion of oxygen from gas bubbles to liquids in three phase systems. Experimental techniques and methodologies are being developed for the characterization of the effect of the presence of solids on mass transfer, individualizing the effects on the liquid-side mass transfer coefficient and on the interfacial area. Current Projects • Modelling and Optimization of Precipitation

Processes in the Chemical Industry. • Characterization of transfer of impurities into

the crystals in industrial processes (POCI/EQU/47922/2002.

• Gas liquid mass transfer in multiphase reactors.

Selected Publications (last 5 years) 1. The Influence of Impurities on the Crystal

Growth Kinetics According to a Competitive Adsorption Model, Pedro M. Martins, Fernando A. Rocha, Peter Rein, Crystal Growth & Design, Vol.6 nº 12, pp.2814-2821, 2006

2. A new theoretical approach to model crystal growth from solution, P.M. Martins and F. Rocha, Chemical Engineering Science, 61 (17), pp. 5696-5703, 2006

3. The role of diffusional resistance on crystal growth: Interpretation of dissolution and growth rate data, P.M. Martins and F. Rocha, Chemical Engineering Science, 61 (17), pp. 5686-5695, 2006

4. Sucrose Evaporative Crystallization. Part 2. Investigation into Crystal Growth Kinetics and Solubility, Pedro M. Martins, Fernando A. Rocha, and Peter Rein, Modeling, Industrial & Engineering Chemistry Research, 44 (23), pp. 8865-8872, 2005

5. Modeling Sucrose Evaporative Crystallization. Part 1. Vacuum Pan Monitoring by Mass Balance and Image Analysis Methods, Pedro M. Martins, Fernando A. Rocha, and Peter Rein, Industrial & Engineering Chemistry Research, 44 (23), pp. 8858-8864, 2005

6. Effect of solids on homogeneous-heterogeneous flow regime transition in bubble columns, P. C. Mena, M. C. Ruzicka, F. A. Rocha, J. A. Teixeira, J. Drahos, Chemical Engineering Science, 60 (22), pp. 6013-6026, 2005

7. Using image analysis in the study of multiphase gas absorption, P.C. Mena, M.N. Pons, J.A. Teixeira, F.A. Rocha, Chemical Engineering Science 60 (18), pp. 5144 – 5150, 2005

Fernando Rocha Lecturer Phone: 351-22-508.1678; Fax: 351-22- 508.1632 E-mail: : [email protected] Personal URL: http://www.fe.up.pt/deqwww/docentes/FernandoAR.html


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8. Using Image Analysis to Look into the Effect of Impurity Concentration in NaCl Crystallization, A. Ferreira, N. Faria, F. Rocha, S. Feyo de Azevedo, and A. Lopes, Chemical Engineering Research and Design, 83 (A4), pp. 331-338, 2005

9. Quantification of the morphology of sucrose crystals by image analysis, N. Faria, M. N. Pons, S. Feyo de Azevedo, F. A. Rocha and H. Vivier, Powder Technology, 133 (1), pp. 54-67, 2003

10. The different phases in the precipitation of dicalcium phosphate dihydrate, A. Ferreira, C. Oliveira and F. Rocha, Journal of Crystal Growth, 252 (4), pp. 599-611, 2003

11. Effect of CaCl2 in sucrose crystallization, A. Ferreira, F. Rocha, N. Faria, CHISA 2006, Praga, 2006

12. Spray evaporation of brine solutions, F. Rocha, J. Prior, L. Matos, M. Pinho, International Heat Transfer Conference, IHTC-13, Sydney, 2006

13. Effect of cane sugar impurities on sucrose growth kinetics, P. Martins, F. Rocha, P. Rein, Sugar Industry Technologists, SIT, La Baule, #914, 2006

14. First principles model of the transformation of hydroxyapatite into brushite and growth of brushite, Cristina Oliveira1, Petia Georgieva, Fernando Rocha, António Ferreira, Sebastião Feyo de Azevedo, 9th International Chemical Enginering Conference, CHEMPOR, Coimbra, 2005

15. New methods for characterization and control of industrial crystallization, P. M. Martins; F.Rocha and P. Rein, ISIC 16 - 16th International Symposium of Industrial Crystallization, Dresden, pp. 1051-1056, 2005

16. Modelling of dicalcium phosphate dihydrate precipitation from solution, C. Oliveira, P. Georgieva, F. Rocha, A. Ferreira, S. Feyo de Azevedo, ISIC 16 - 16th International Symposium of Industrial Crystallization, Dresden, pp. 151-156, 2005

17. Effect of solids on homogeneous-heterogeneous flow regime transition in bubble columns, P. C. Mena, F. A. Rocha, J. A. Teixeira, J. Drahos, M. C. Ruzicka, 7th Conference on Gas-Liquid & Gas-Liquid-Solid Reactor Engineering, Estrasburgo, 2005

18. Effect of Solids on Gas-Liquid Mass Transfer and Bubble Characteristics in Three-Phase Systems, P. C. Mena, M. N. Pons, J. A. Teixeira, F. A. Rocha, 7th World Congress of Chemical Engineering, Glasgow, 2005

19. Vacuum Pan Monitoring by Mass Balance and Image Analysis Methods, P. Martins, F. Rocha,

P. Rein, Sugar Industry Technologists, SIT, Dubai, #888, 2005

20. Effect of impurities on the crystal growth from solutions – A new kinetic model, P. M. Martins, F. Rocha, XV COBEQ, Curitiba, 2004

21. Effect of solids on mass transfer in multiphase systems, P. C. Mena; F. A. Rocha; J. A. Teixeira; M. N. Pons, XV Congresso Brasileiro de Engenharia Química, COBEQ 2004, 26 a 29 de Setembro de 2004, Curitiba

22. Aplicação da análise de imagem no estudo da influência do MgCl2 na morfologia dos cristais de NaCl, A. Ferreira, N. Faria, F. Rocha, S. Feyo de Azevedo, A. Lopes, XV COBEQ, Curitiba, 2004

23. Effect of solids on flow regime transition in three-phase bubble columns, P. C. Mena, F. A. Rocha, J. A. Teixeira, J. Drahos, M. C. Ruzicka, CHISA 2004, Praga, P5.211, 2004

24. Modelling sugar crystallization including morphology quantification, F. Rocha, S. Feyo de Azevedo, N. Faria, M. N. Pons, Sugar Industry Technologists, SIT, Vancouver, #867, 2004

25. Crystal Growth of Sucrose – Influence of Hydrodynamics, P. Martins, E. Zettergren, F. Rocha, 4th European Congress of Chemical Engineering, Granada, P-8.5-017, 2003

26. Effect of solids on gas-liquid mass transfer in three phase systems, Mena, P., Rocha, F., Teixeira, J., 4th European Congress of Chemical Engineering, 21-25 Setembro 2003, Granada, P-5.2-007

27. Experimental Investigation and Kinetic Modelling of Crystal Growth, P. Martins and F. Rocha, Chemical Engineering Transactions, Sorrento, Volume 1, pp. 383-388, 2002

28. Using image analysis to look into the effect of operating conditions in sugar crystallisation, Feyo de Azevedo, F. Rocha, N. Faria, and M. N. Pons, Chemical Engineering Transactions, Sorrento, Volume 1, pp. 1377-1382, 2002

29. Effect of viscosity on homogeneous regime stability in bubble columns, Mena P., Ruzicka M., Drahos J., Teixeira J., Rocha F., 15th International Congress of Chemical and Process Engineering, Praha, P5.130 [1071], 2002

30. Effect of surfactants on homogeneous regime stability in bubble columns, Mena P., Ruzicka M., Drahos J., Teixeira J., Rocha F., 15th International Congress of Chemical and Process Engineering, Praha, P5.129 [1070], 2002


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J. L. Martins de Carvalho received his “licenciatura” degree in Electrical Engineering at the University of Porto, in 1972. In 1973 he went to Imperial College, London, where he received the Ph.D. degree in Electrical Engineering in 1977. He joined FEUP in 1979 as “Professor Auxiliar”of Electrical Engineering and since then he has always worked at FEUP. In 1982 he became “Professor Associado”. In 1990 he received the “Agregação” and became “Professor Catedrático” in the same year. His research activity is carried out at the Control Systems and Technology Group of the Institute for Systems and Robotics. His main research interest is Process Control and Identification. He is a founding member of APCA-“Associação Portuguesa de Controlo Automatico” and vice-president of EUCA-European Union Control Association. He was awarded a “Menção Honrosa” in the scientific prize “Prémio da Boa Esperança” for his book Dynamical System and Automatic Control published in 1993. In 2000 he published the book “Sistemas de Controlo Automático”. He chaired the organizing committee of the European Control Conference-ECC 2001. Between 2001 and 2003 he was chairman of EUCA-European Union Control Association. Research Interests His research work is centered in Identification and Process Control. In the frequency domain he has contributed for the development of efficient identification algorithms based on the system frequency response. At present he is addressing subspace type identification techniques. Current Projects • System Identification for Control, ISR

financed project.

Selected Publications 1. P.Lopes dos Santos and J.L.Martins de

Carvalho, “A Robust Algorithm for Identifying Transfer Function Poles from a Frequency Response”, Syst. Anal. Model. Simul., 7, Akademie-Verlag, Berlin,1990

2. P. Lopes dos Santos and J.L. Martins de Carvalho, “Automatic Transfer Function Synthesis from a Bode Plot”, Proceedings of CDC 90 - 29th Conference on Decision and Control, Honolulu, Hawaii, December 1990.

3. Alexandra M.S.F. Galhano, J.A. Tenreiro Machado, J.L. Martins de Carvalho "On the Analysis and Design of Robot Manipulators: A Statistical Approach" 11th IFAC World Congress, 13-17/August/1990, Tallinn, URSS

4. A. Paulo G.M. Moreira, J.L. Martins de Carvalho, "Noise Filtering and Compensation of

Sensor Dynamics", Proceedings European Control Conference - ECC' 93,vol. 2, pp. 679-682,1993, Groningen, June 28 - July 1, The Netherlands.

5. J.L. Martins de Carvalho, "Dynamical Systems and Automatic Control", Prentice-Hall, U. K., 1973. ISBN 0-13-221755-4.

6. P. Lopes dos Santos and J.L. Martins de Carvalho, “Transfer Function Parameter Estimation from Bode Plots”, 3rd European Control Conference ECC-95, 5-8 September 1995, Rome, Italy.

7. A. Paulo G.M. Moreira, J.L. Martins de Carvalho, "Continuous Density Measurement in Fermenters: A Model Based Approach"; Proceedings of the 13th World Congress of IFAC, June 30-July 5, 1996, San Francisco, USA.

8. Catarina J.M. Delgado, P. Lopes dos Santos, J.L. Martins de Carvalho "Numerical Algorithm for Recursive Subspace Identification", CDC 98 - 37th Conference on Decision and Control, December 16-18, 1998, Tampa, Florida, U.S.A.

9. J. L. Martins de Carvalho "Sistemas de Controle Automático", 2000, Editora LTC, Rio de Janeiro, Brasil. ISBN 85-216-1210-9.

10. Catarina J. M. Delgado, P. Lopes dos Santos, J. L. Martins de Carvalho "On-Line Subspace Identification", European Control Conference ECC-2001 4-7 September 2001, Porto, Portugal

J. L. Martins de Carvalho Professor Phone: +351-22-2041852; Fax: +351-22-041632 E-mail: [email protected]


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11. P. Lopes dos Santos, J. L. Martins de Carvalho, "Improving the Numerical Efficiency of the B and D estimates Produced by the Combined Deterministic-Stochastic Subspace Identification Algorithms", 42nd IEEE Conference on Decision and Control, pp. 3473-3478, 9-12/Dec. 2003, Maui, Hawaii, USA.

12. P. Lopes dos Santos, José A. Ramos, J.L. Martins de Carvalho, “Identification of Bilinear Systems Using an Iterative Deterministic-Stochastic Subspace Approach”, Proceedings of 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 pp 7120-7126, Seville, Spain, 12-15 Dec. 2005

13. Catarina J. M. Delgado, P. Lopes dos Santos, J. L. Martins de Carvalho, "A new insight to the matrices extraction in a MOESP type subspace identification algorithm", International Journal of Systems Science, Volume 37, Number 8 / 20 June 2006, pp 565 – 574.

14. P. Lopes dos Santos, José A. Ramos, J. L. Martins de Carvalho, “Subspace Identification of Linear Parameter Varying Systems with Innovation-Type Noise Models”, Proceedings of CONTROLO 2006, Seventh Portuguese Conference on Automatic Control, Lisbon, Portugal, Sept 11-13, 2006


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Maria Joana Monteiro de Carvalho Peres obtained her licenciate degree in Applied Mathematics from the University of Porto in 1991, the MSc degree in Electrical Engineering – Industrial Informatics in 1995 and the Ph.D in Chemical Engineering from the same University in 2005. She started her academic career as assistant lecturer in the Faculdade de Engenharia, University of Oporto in 1996. In 2005 she became Lecturer and she is at the Department of Chemical Engineering, since December 2006. Her main teaching interests are in the areas of Informatics, Nmerical Methods, Mathematics and Statistics. Her research activity is carried out within the Institute for Systems and Robotics in the areas of hybrid bioprocess modelling. She is a member of the Portuguese ‘Sociedade de Matemática’. Research Interests Her main interest is hybrid bioprocess modelling.

Current and recent projects • Advanced Bioprocess Automation Based on

Hybrid Grey-Box Systems, FCT contract POCTI/BIO/56571/2004

• Batch Process Optimisation (BatchPro), FP5 - Research Training Network (RTN) - , 1999-2003, EU Contract RTN1-1999-00245. Partners: 7 European research groups.

Selected Publications • J. Peres, R. Oliveira and S. Feyo de Azevedo,

Knowledge Based Modular Networks for Process Modelling and Control, Computers Chem. Engng, 25, 783-791, 2001

• Oliveira, R., Peres, J. & Feyo de Azevedo, S. (2000), Efficient knowledge integration methods for improved bioreactor operation, in ‘4th Portuguese Conference on Automatic Control (Controlo’2000)’, Guimarães, Portugal, pp. 214–218.

• Oliveira, R., Peres, J. & Feyo de Azevedo, S. (2001), Methods of knowledge engineering for batch process operation, in ‘ECCE’3 - Third European Conference of Chemical Engineering’, Nuremberg, pp. CD–ROM paper 539.

• Peres, J., Oliveira, R. & Feyo de Azevedo, S. (2001), Knowledge based modular networks

for process modelling and control, Computers and Chemical Engineering 25, 783–791. (Originally printed in A. Kraslawski & I. Turunen, eds, ‘10th European Symposium on Computer Aided Process Engineering (ESCAPE10)’, Florence, Italy, pp. 247–252.)

• Peres, J., Oliveira, R. & Feyo de Azevedo, S. (2003), Modelling cells reaction kinetics with artificial neural networks: A comparison of three network architectures, in A. Kraslawski & I. Turunen, eds, ‘13th European Symposium on Computer Aided Process Engineering (ESCAPE13)’, Lappeenranta, Finland, pp. 839 – 844.

• Georgieva, P., Peres, J., Oliveira, R. & Feyo de Azevedo, S. (2003), Process modelling through knowledge integration - competitive and complementary modular principles, in ‘Workshop on Modelling and Simulation in Chemical Engineering’, Coimbra, Portugal.

• Georgieva, P., Peres, J., Oliveira, R. & Feyo de Azevedo, S. (2004), Modular Principle in Knowledge-Based Process Modelling – Application to a Fed-Batch Sugar Crystallizer (2004) Swiss Symp. On Crystallization and Precipitation, Ed. M. Mazzotti, ETH-Zurich, 9-10 March 2004

• Peres, J., Oliveira, R. & Feyo de Azevedo, S. (2004), Hybrid modelling of fermentation processes: A study on the use of modular neural networks for modelling cells reaction kinetics, in ‘CAB9: 9th Symposium on Computer Application in Biotechnology’,

Maria Joana Monteiro de Carvalho Peres Lecturer Phone: (351)-22.5081592, Fax: (351)- 22.5081632 E-mail: [email protected]


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Nancy, France, 28-30 March (Poster Presentation)

• Oliveira, R., Peres, J. & Feyo de Azevedo, S. (2004), Hybrid modelling of fermentation processes using artificial neural networks: A study on identification and stability, in ‘CAB9: 9th Symposium on Computer Application in Biotechnology’, Nancy, France, 28-30 March. (Oral Presentation)

• Peres, J., Oliveira, R., Serafim, L. S., Lemos, P., Reis, M. A. & Feyo de Azevedo, S. (2004), Hybrid modelling of a pha production process using modular neural networks, in ‘ESCAPE-14: European Symposium on Computer Aided Process Engineering’, Lisboa, Portugal, 16-19 May (Oral Presentation).

• Peres, J., F. Freitas,, Reis, M. A., Feyo de Azevedo, S. & Oliveira, R. (2006), Hybrid modular mechanistic/ANN modeling of a wastewater phosphorus removal process, in ‘ESCAPE-16: European Symposium on Computer Aided Process Engineering’, Garmisch-Partenkirchen, Germany, 9-13 July (Poster Presentation).


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Maria João Meireles graduated with a degree in Chemical Engineering at the University of Oporto, in 1986. At the same year she started her research career with a scholarship for young researchers, and from 1987 till 1991 she was a doctorate student at the University of Oporto. In 1991 she started her academic career as Assistant 1st three-year period at the Department of Chemical Engineering of the Superior Institute of Engineering of the Polytechnic Institute of Oporto, while continuing her research work at the University of Oporto, obtaining, in 1996 a Ph.D. degree in Chemical Engineering. Presently, and since 1997, she is an Adjunct Professor in Chemical Engineering at the Superior Institute of Engineering of the Polytechnic Institute of Oporto. She works within the Process Systems Engineering group of the Institute for Systems and Robotics and she is a member of Portuguese 'Ordem dos Engenheiros'. Research Interests The scientific areas of interest are Process Systems Engineering and Unit Operations, namely Modelling and Simulation of Industrial Processes.

Selected Publications 1. R. Salcedo, M. J. Gonçalves e S. Feyo de

Azevedo, "An Improved Random Search Algorithm for Non-linear Optimization", Computers Chem Engng., 14, 1111-1126, 1990.

2. S. Feyo de Azevedo, J. Chorão, M. J. Gonçalves e L. Bento, "On-line Monitoring of White Sugar Crystallization through Software Sensors", in Proc of the 52nd Annual Meeting of the Sugar Industry Technologists Inc., p. 217-251, June 13-16, 1993, Toronto, Canada; Vol. LII, SIT Inc. Publ., New York, 1993; selected for publication in Part I - Int.Sugar JNL., 95, 483-488, 1993; Part II - Int. Sugar JNL., 96, 18-26, 1994.

3. Maria João C.G. Meireles, “Modelização e Simulação Computacional de uma Unidade Industrial de Cristalização de Açúcar”, Ph.D. Thesis, 1996.

4. K. Najim, V. Ruiz, S. Feyo de Azevedo, M. J. Gonçalves, “Modelling and Adaptive Control of a Batch Evaporative Crystallizer”, J. Syst. Eng., 6 , 233-241, 1996.

5. Maria João G. Meireles, S. Feyo de Azevedo, “Modelling the Operation of a Sugar Industrial Crystallizer”, in proceedings of CHEMPOR’ 98 – International Chemical Engineering Conference, Lisboa, Portugal, 23-26 September, 1998.

6. R.Oliveira, J. Peres, M. J. Gonçalves, S. Feyo de Azevedo, "Methods of Knowledge Engineering for Batch Process Operation”, Proc. da ECCE 3 – 3rd European Congress of Chemical Engineering, 26 a 28 de Junho, Nuremberga, Alemanha, 2001.

7. P. Georgieva, S. Feyo de Azevedo, M. J. Gonçalves, , "Knowledge-based Hybrid Model of Batch Evaporative Crystallisation Process”, Ed. A. Chianese, Chemical Engineering Transactions, Volume 1, 2002, 15th. International Symposium on Industrial Crystallization, 15 –18 Setembro 2002, Sorrento, Itália, p.1161-1166.

8. Georgieva, P., S. Feyo de Azevedo, M. J. Gonçalves, P. Ho, Modeling of Sugar Crystallization through Knowledge Integration, Eng. Life Sci., 3 No. 3 146-153, 2003

9. Georgieva, P., M. J. Meireles and S. Feyo de Azevedo, Knowledge-based hybrid modelling of a batch crystallisation when accounting for nucleation, growth and agglomeration phenomena, Chem Engng Sci, 58 (16) 3699-3713, 2003

Maria João Meireles Professor Phone: 351-22-8340500; Fax: 351-22- 8321159 E-mail: [email protected]


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M. Margarida A. Ferreira graduated in Mathematics at the University of Oporto, in 1982. After a teaching year in the Mathematics Department at the same university she moved to the Computers and Electric Engineering Department where she is still, presently as Professora Auxiliar. In 1995 she obtained a Ph.D. degree in Electric Engineering, in the area of optimal control. Her main interests are Optimal Control, Calculus of Variations, Nonsmooth Analysis. She is a member of APCA, Portuguese Association of Automatic Control, SPM, Portuguese Association of Mathematics, SIAM, Society for Industrial and Applied Mathematics, and AMS, American Mathematical Society.

Research Interests One line of research has been the development of necessary conditions of optimality in the form of the Maximum Principle of Pontryagin, for optimal control problems with state constraints. Particular attention is played to the degeneration of this maximum principle for a certain class of constrained control problems. The study of the regularity of the optimal control for certain classes of constrained problems is also a focus of interest. Another main line of research has been the development of necessary conditions involving an Euler-Lagrange inclusion for control problems with different types of constraints. Current Research Projects Controlo Óptimo com Restrições e Aplicações. Team: M. do Rosário de Pinho (FEUP), Fernando L. Pereira (FEUP), João T. B. Sousa (FEUP), M. M. A. Ferreira (FEUP), F. Fontes (Univ. do Minho), Sofia O. Lopes (Univ. Minho). Optimal Control problems in Cancer Chemotherapy. Team: M. do Rosário de Pinho (FEUP), M. M. A. Ferreira (FEUP), Urszula Ledzewicz (Southern Illinois University, USA) and Heinz Schattler (Washington University, Missouri, USA) Selected Publications 2. M. M. A. Ferreira and R. B. Vinter, “When is

the Maximum Principle for State Constrained Problems Nondegenerate?’’, J. Math. Anal. Appl., 187,No.2, pp. 438-467, 1994.

3. M.d.R. de Pinho and M.M.A. Ferreira, ”Necessary Conditions for Some Optimal Control Problems with State-Dependent

Control Constraints’’, Proceeding 34rd IEEE Conference on Decision and Control, New Orleans, Lousiana, USA, Dezembro 1995.

4. M. M. A. Ferreira, F. A. C. C. Fontes e R. B. Vinter, “Nondegenerate Necessary Conditions for Nonconvex Optimal Control Problems with State Constraints’’, J. Math. Anal. Appl., 233, pp. 116-129, 1999.

5. M. M. A. Ferreira, “Nontrivial Maximum Principle for Optimal Control Problems with State Constraints’’, System Modelling and Optimization, London: Chapman & Hall/LCR, Edit. M. P. Polis et all, 100-107, 1999.

6. Ferreira and R. B. Vinter, “Lipschitz Continuity of the Optimal Control”, Proceedings of IASTED Conference, Control and Applications, Cancun, Mexico, pp.19-23, May 2000.

7. M.d.R. de Pinho, M. M. A. Ferreira, F.A.C.C. Fontes, “A Weak Maximum principle for Control Problems with State constraints”,.. Proceedings of European Control Conference (ECC2001), Porto, Setembro 4-7, 2001.

8. M.d.R. de Pinho, M. M. A. Ferreira, F.A.C.C. Fontes, “Necessary Conditions in Euler-Lagrange Inclusion form for Constrained Nonconvex Optimal Control Problems”, Proceedings of the 10th Mediteranean Conference on Control and Automation (MED2002), Lisboa, Julho 9-12, 2002.

9. M.d.R. de Pinho and M. M. A. Ferreira, “Optimal Control Problems with Constraints”, Seria Matematica Aplicata Si Industriala, Editura Universitii Din Pitesti, Romenia 2002.

10. M.d.R. de Pinho, M.M.A. Ferreira and F.A.C. C. Fontes, “An Euler-Lagrange Inclusion for Optimal Control Problems with State Constraints”, Dynamical and Control Systems, 8, pp. 23-45, 2002.

Maria Margarida A. Ferreira Lecturer Phone: 351-22-508 1794; Fax: 351-22- 508 1443 E-mail: [email protected]


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11. M.d.R. de Pinho, M.M.A. Ferreira and F.A.C.C. Fontes, “On Optimality Conditions for Control Problems with Constraints”, Proceedings of the 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, p. 201-206, Seville, Spain, 3-5 April, 2003

12. M.M. A. Ferreira and F.A.C.C. Fontes, “Nondegeneracy and Normality in Necessary Conditions: An Overview”, Proceedings of 6th Portuguese Conference on Automatic Control, Controlo 2004, p. 261-266, Faro, Portugal, 4-7 June, 2004.

13. M.d.R. de Pinho, M.M. A.Ferreira and F.A.C.C. Fontes, “Nondegenerate Eular-Lagrange Inclusion form of the Maximum Principle for State-Constrained Problems”, Proceedings of 6th Portuguese Conference on Automatic Control, Controlo 2004, p. 273-278, Faro, Portugal, 4-7 June, 2004.

14. M.M. A. Ferreira, “On The Regularity of the Optimal Control for a Class of Problems with State Constraints”, Proceedings of 6th Portuguese Conference on Automatic Control, Controlo 2004, p. 642-647, Faro, Portugal, 4-7 June, 2004.

15. M.d.R. de Pinho, M.M. A. Ferreira and F.A.C.C. Fontes, “Nondegeneracy and Normality in Necessary Conditions Involving Hamiltonian Inclusions for State-Constrained Optimal Control Problems”, Proceedings of the 43rd IEEE Conference on Decision and Control, CDC04, Paradise Island, The Bahamas, p. 911-916, 14-17 Dezember, 2004.

16. M.d.R. de Pinho, M.M. A. Ferreira and F.A.C.C. Fontes, “Unmaximized Necessary Conditions for Constrained Optimal Control Problems”, Proceedings of the 43rd IEEE Conference on Decision and Control, CDC04, Paradise Island, The Bahamas, p. 917-922, 14-17 Dezember, 2004.

17. M.d.R. de Pinho, M.M.A. Ferreira and F.A.C. C. Fontes, “Unmaximized Inclusion Necessary Conditions for Nonconvex Constrained Optimal Control Problems”, ESAIM- COCV, Vol. 11, N. 4, pp.614-632, 2005.

18. M.d.R. de Pinho, M.M.A. Ferreira, Urszula Ledzewicz and Heinz Schaettler, “A model for cancer chemotherapy with state-space constraints”, NonlinearAnalysis 63 (2005) e2591-e2602.

19. M.M.A. Ferreira, “On the regularity of optimal controls for a class of problems with state constraints”, International Journal of Systems Science, Vol. 37, N. 8, pp 495-502, 2006.


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Maria do Rosário de Pinho graduated with a degree in Mathematics at the University of Porto, in 1985. In 1990 she obtained an M. Eng. Degree in Electrical Engineering in Porto University. In October 1993 she obtained a PhD degree in Control Theory at Imperial College, University of London. Since 1994, she has been an “Professora Auxiliar’’ for the Electrical Engineering Department of the University of Porto. Between 1996 and 1997 she spent five months at Imperial College where she was engaged in post doctoral studies. Her main research interests are Optimal Control, Optimization and Nonsmooth Analysis. She is a member of the APCA (Associação Portuguesa de Controlo Automático), SIAM, AMS and SPM (Portuguese Mathematical Society). Research Interests The main research area of interest is optimal control theory with emphasis on constrained optimal control problems. Emphasis is on problems with mixed constraints. Such problems are of interest not only because of their direct applications but also because of their relationship with optimal control problems involving Differential Algebraic Equations (DAE’s).

For constrained optimal control problems several topics have been considered. Of relevance is the derivation of new first order necessary conditions of optimality for problems with mixed constraints and for problems with pure state constraints for nonlinear problems with possible nonsmooth data. Those necessary conditions are unmaximized Hamiltonian Inclusion (UHI) type conditions. They provide a weak form of the nonsmooth maximum principle for the problems under consideration. UHI type conditions have also been successfully extended to cover problems involving both mixed constraints and pure state constraints. For mixed constrained problems four other topics have been studied. First, the weakening of regularity conditions under which maximum principles, particularly UHI type conditions, have been derived has been the focus of attention. Also, second order conditions have also been studied. In the last few months the regularity properties of the optimal control and the determination of necessary conditions for nonregular problems have been considered.

Several interesting applications of optimal control problems are also under study, among those applications to cancer chemotherapy.

Current Research Projects • POSC/EEA-SRI/61831/2004, Controlo Óptimo

com Restrições e Aplicações. with Fernando Lobo Pereira (FEUP), João Tasso Borges de

Sousa (FEUP), Maria Margarida A. Ferreira (FEUP), Fernando A. C. C. Fontes (U. Minho) and Sofia Lopes Oliveira (U. Minho).

• CST_06_OCO, Optimização e Controlo Óptimo, sub-project of Project ISR-Porto, Research Unit 147 (ISR, FEUP).

Research Collaborations

• Optimal control problems in Cancer Chemotherapy with M. M. A. Ferreira (FEUP), Urszula Ledzewicz (Southern Illinois University, USA) and Heinz Schattler, (Washington University, Missouri, USA, Michigan State University, USA).

• Second order conditions for mixed constrained problems, with Javier Rosenblueth, IMAS-UNAM, Mexico.

• Regularity properties of optimal controls for mixed constrained problems, with Ilya Shvartsman (Miami University, Oh, USA).


1. M. d. R. de Pinho and Javier F. Rosenblueth, Mixed constraints in optimal control: an implicit function theorem approach, IMA Journal of Mathematical Control and Information, advance access published on August 2, 2006. doi:10.1093/imamci/dnl008.

2. M. d. R. de Pinho and Javier F. Rosenblueth, Necessary Conditions for Constrained Problems under Mangasarian-Fromowitz Conditions, submitted for publication, June 2006.

3. M. d. R. de Pinho, Maria M. A. Ferreira, Urszula Ledzewicz and Heinz Shaettler, A model for caner chemotherapy with state-space constraints, Nonlinear Analysis, Vol. 63, pp. e2591-e2602, 2005.

Maria do Rosário de Pinho Lecturer Phone: 351-22-204.1617; Fax: 351-22- 204 1632 E-mail: [email protected]


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4. M.d R. de Pinho, M. M. A. Ferreira and F.A. C. Fontes, An Euler Lagrange Form of Maximum Principle for Nonconvex Constrained Problems, ESAIM- COCV, Vol. 11, N. 4, pp.614-632, (2005).

5. M. d R. de Pinho, Mixed Constrained Control Problems, J. Math. Anal. Appl., 278, (2003), pp. 293-307.

6. M.d R. de Pinho and Achim Ilchmann, Weak Maximum Principle for Optimal Control problems with Mixed Constraints Nonlinear Analysis, 48, (2002), pp. 1179-1196.

7. M. d R. de Pinho, M. M. A. Ferreira and F.A. C. Fontes, An Euler Lagrange Inclusion for optimal Control with State Constraints, Journal of Dynamical and Control Systems, 8 (2002), pp. 23-45.

8. M. d. R. de Pinho and M. M. A. Ferreira, Optimal Control Problems with Constraints, Seria Matematica Aplicata Si Industriala, Editura Universitii Din Pitesti, Romenia (2002) (book).

9. M. d. R. de Pinho, R. B. Vinter and H. Zheng, Maximum Principle for Optimal Control with Mixed Constraints, IMA, Journal of Control and Information, 18, (2001), pp.189-205.

10. M.d.R. de Pinho e Harry Zheng, Conjugate Points for Optimal Control Problems with State-Dependent Control Constraints, Systems Modelling and Optimization, London: Chapman & Hall/LCR Ed. M. P. Polis et all, (1997) 162-170.

11. M. d. R. de Pinho and R. B. Vinter, Necessary Conditions for Optimal Control Problems Involving Nonlinear Differential Algebraic Equations, J. Math. Anal. Appl., 212, (1997) pp. 493-516.

12. M. d. R. de Pinho and R. B. Vinter, An Euler Lagrange Inclusion to Optimal Control Problems, IEEE, Trans. Aut. Control, Vol.40, n.7, (1995) pp 1191-1198.


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Mário de Sousa graduated in Electrical Engineering, Faculty of Engineering of University of Porto, 1992. He pursued graduate studies at University of Porto, obtaining in 1996 a Masters degree, and in 2005 a Ph.D. degree, both in Electrical and Computers Engineering. He started a full-time academic career in 1992, and presently he is an Assistant Professor in Electrical and Computers Engineering Department, developing his research in the Industrial Automation group of the Institute for Systems and Robotics. His main interests are Automation and Control. He is a member of the Portuguese 'Ordem dos Engenheiros'.

Research Interests R&D interests are centered around industrial automation, with a strong emphasis on industrial informatics and on the support for development of real-time, reliable, and distributed networked control systems.

Current research activities are centered around the IEC 61131-3 and IEC 61499 standards for development of automation control applications. More specifically, on the development of schedulaiblity analysis for real-time IEC 61499 applications, support for reliable and replicated applications using the IEC 61499 framework, and analysing the suiotablility of IEC 61131-3 languages for the development of mission critical appllications.

Current Projects • Development of a FLOSS, IEC 6113-3

Compatible, Integrated Development Environment, and Associated Run-rime Support, FEUP, Lolitech (France);

• Framework for Support of Reliable Distributed IEC 61499 Applications with Real-Time Constraints, FEUP;

• Schedulability Analysis of a real-time IEC 61850 compatible controller, FEUP, EFACEC, FCT


Book Chapters • Programming with the IEC 61131-3 Languages

and the MatPLC, Mario de Sousa, Adriano de Carvalho, in “The Industrial Information

Technology Handbook”, CRC Press, FL., 2005, ISBN 0-8493-1985-4

International Conferences • The Real-Time MatPLC, Mário de Sousa, Adriano

de Carvalho, International Conference on Real-Time and Networked Systems, Poitier, France, 2006.

• Embedding the MatPLC, Mário de Sousa, Adriano Carvalho, Rafael Ferreira, Proceedings of the 10th International Conference on Emerging Technologies and Factory Automation (ETFA 2005), September 19-22, 2005, Catania, Italy, ISBN 0-7803-9402-X

• On Adding Support for Real-Time and Distributed Applications to the MatPLC, Mário de Sousa, Adriano de Carvalho, Proceedings of the 11th IFAC Symposium on Information Control Problems in Manufacturing (INCOM 2004), Salvador da Bahia, Brazil, April, 2004.

• MatPLC: Towards Real-Time Performance, Mário de Sousa, Jiri Baum, Andrey Romanenko, Proceedings of the 5th Real-Time Linux Workshop, The Real-Time Linux Foundation, Valencia, Spain, 2003

• An IEC 61131-3 Compiler for the MatPLC, Mario de Sousa, Adriano de Carvalho, The 9th IEEE International Conference on Emerging Technologies and Factory Automation; ETFA'2003, September 16-19, 2003, Lisbon, Portugal

• MatPLC - the Truly Open Automation Controller, Proceedings of the 28th Annual Conference of IEEE Industrial Electronics Society (ISBN 0-7803-7474-6, IEEE Catalog number 02CH37363), Sevilla, Spain, November 2002, IECON'02, pg. 2278-2283.

Mário de Sousa Lecturer Phone: 351 22 508 1815; Fax: 351 22 508 1443 E-mail: [email protected]


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• Open Control Systems, P. Wurmsdobler and M. de Sousa, Proceedings of the 3rd Real-Time Linux Workshop, The Real-Time Linux Foundation, Milano, Italy, 2001.

• Mapping Synchronisation Protocols onto RT CORBA, Proceedings of the International Symposium on Distributed Objects and Applications, Antwerp, Belgium, September 2000, DOA'00, pg. 89-96.

• Synchronisation Issues of RT CORBA Threads, Proceedings of the International Conference on Parallel and Distributed Processing Techniques and Applications, Las Vegas, United States, July 1999, PDPTA'99 Vol. II, pg. 606-612.


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Patrícia Alexandra Gregório Ramos graduated in Applied Mathematics (Field of Computer Science) at Faculdade de Ciências da Universidade do Porto in 1993, received the MSc degree in Electrical and Computer Engineering from Universidade do Porto in 1996 and received the Ph.D degree in Engineering Sciences from Universidade do Porto in 2005. Her academic career started in 1993 and, currently, she is Assistant Professor of Instituto de Contabilidade e Administração do Porto (Instituto Poiltécnico do Porto) and researcher in the Decision and Control Engineering Group of the Institute of Systems and Robotics. Her main research interests are: Environmental Fluid Mechanics, Environmental Data Processing and Analysis and Geostatistics.

Research Interests Her research interests have been related to environmental engineering, namely fluid mechanics associated to mixing and transport of pollutants. In these areas her research works have been directed to the theoretical and experimental studies on pollutant dispersion, in situ environment monitoring technologies namely Underwater Autonomous Vehicles (AUVs), environment impact studies of sewage outfall discharges and data processing and analysis.

Current and recent projects • SFS-PO_ROBOT - Science for Stability, NATO,

(1993-7 – 1996-6, participant). This project aimed to develop a system for navigation and control of a mobile platform to be used in structured and semi-structured environments especially industrial ones.

• Definition of Environmental Monitoring Missions for the Operation of Autonomous Underwater Vehicles on the Portuguese Coast, Direcção Geral do Ambiente (1996-1 –1998-12, participant). This project aimed to specify and plan a set of environmental monitoring missions to be carried out with Autonomous Underwater Vehicles (AUVs) in selected areas of the Portuguese Coast.

• Monitoring Mission to S. Jacinto Outfall using an Autonomous Underwater Vehicle, SIMRIA – Saneamento Integrado dos Municípios da Ria (2001-6 –2002-7, Member of Research Team). The main objective of this project was to carry out a monitoring mission to S. Jacinto Outfall (Aveiro) with an AUV to evaluate the environmental impact of the effluent discharge in the area.

• INCORP – Improved Navigation with Cooperating Robotic Platforms, POSC/EEA-SRI/59963/2004, Member of Research Team. The main goal of this project is the development and testing of an infra-structure to improve navigation capabilities of AUVs operating in shallow waters.

• Environmental Monitoring of Foz do Arelho

Outfall making use of an Autonomous Underwater Vehicle, Águas do Oeste, (2006- 2007/ Member of Research Team). This project aims to collect relevant data using an AUV to detect, map and estimate dilution of the sewage plume of Foz do Arelho Outfall.

• SIMPES - Integrated System for Sea Outfall Plumes Monitoring, Agência de Inovação, PRIME-IDEIA Project No. 70/00299 (2006-2008/Member of Research Team). This project, with Águas de Portugal Group, aims to develop an integrated system for sea outfall plumes monitoring.

Selected Publications • Ramos, P. (1996), "Mobile Robots Navigation

based on Natural Landmarks", M.Sc. Thesis, Faculdade de Engenharia da Universidade do Porto, (in portuguese).

• Ramos, P., Pereira, F. L. (1997), "Localization System for an Autonomous Mobile Platform", Proceedings of ISIE´97 - IEEE International Conference on Industrial Electronics, pp. 807-812, Guimarães, Portugal.

• Ramos, P., Neves, M., Cruz, N., Pereira, F. L. (2000), "Perspectives for the Use of Autonomous Underwater Vehicles in Monitoring of Wastewater Discharges",

Patrícia Alexandra Gregório Ramos Lecturer Phone: +351 22 508 1860, Fax: +351 22 508 1443 E-mail: [email protected] / [email protected]/


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Proceedings of the 5th Congress of Water: The water and the Sustainable Development. Challenges for the New Century, Lisbon, Portugal, (in Portuguese).

• Ramos, P., Neves, M., Cruz, N., Pereira, F. L. (2000), "Outfall Monitoring Using Autonomous Underwater Vehicles", Proceedings of MWWD2000 - International Conference on Marine Waste Water Discharges 2000, pp. 321-331, Genoa, Italy.

• Teixeira, R., Gomes, R., Fraga, S., Cruz, N., Ramos, P., Matos, A., Estrela, J., Pereira, F. L. (2001), "Environmental Monitoring Missions Using Isurus Autonomous Underwater Vehicle", Proceedings of the Conference Robotics 2001, Guimarães, Portugal, (in Portuguese).

• Ramos, P., Cruz, N., Matos, A., Neves, M., Pereira, F. L. (2001), "Monitoring an Ocean Outfall Using an AUV", Proceedings of the MTS/IEEE International Conference Oceans 2001, Vol. III, pp. 2009-2014, Honolulu, HI, USA.

• Ramos, P., Cruz, N., Matos, A., Neves, M., Pereira, F. L. (2001), "Prediction Studies for an AUV Monitoring Mission Plan", Proceedings of the Fifth International Conference on the Mediterranean Coastal Environment, Medcoast, Vol. III, pp. 1299-1310, Hamammet, Tunisia.

• Ramos, P., Neves, M., Pereira, F. L., Quintaneiro, I. (2002), "Mission Plan of a Monitoring Mission to S. Jacinto Outfall using Isurus AUV", Proceedings of the 6th Congress of Water, Porto, Portugal, (in Portuguese).

• Ramos, P., Neves, M., Pereira, F. L., Quintaneiro, I. (2002), "Mapping the Aveiro Sea Outfall Plume: Sampling Strategy for an Autonomous Underwater Vehicle", Proceedings of MWWD2002 - International Conference on Marine Waste Water Discharges, Istanbul, Turkey.

• Ramos, P., Neves, M., Pereira, F. L. (2002), "Using Near Field Model Predictions to Detect and Map an Outfall Sewage Plume with an AUV", Proceedings of the MTS/IEEE International Conference Oceans 2002, Biloxi, Mississippi, USA.

• Ramos, P., Neves, M., Pereira, F. L., Quintaneiro, I. (2003), "The Use of Mathematical Models and Autonomous Underwater Vehicles to Monitor Effluent Discharges", International Symposium

Environment 2010: Situation and Perspectives for the European Union, Porto, Portugal.

• Ramos, P., Pereira, F. L., Quintaneiro, I. (2004), "Detection and Mapping of the Effluent Discharged by an Ocean Outfall using an Autonomous Underwater Vehicle", Proceedings of the 7th Congress of Water, Water – Quality of all Live, Porto, Portugal, (in Portuguese).

• Ramos, P., Cunha, S., Pereira, F. L., Quintaneiro, I. (2004), "Mapping and Initial Dilution Estimation of a Sewage Outfall Plume Using an Autonomous Underwater Vehicle", Book of Abstracts In Depth of the 29th International Conference on Coastal Engineering, ASCE, Lisbon, September 19-24, 2004.

• Ramos, P., Cunha, S., Neves, M., Pereira, F. L., Quintaneiro, I. (2004), "Sewage Outfall Plume Dispersion Observations with an Autonomous Underwater Vehicle", Proceedings of the 4th IWA World Water Congress and Exibition, Marrakech.

• Ramos, P. (2005), "Advanced Mathematical Modeling for Outfall Plume Tracking and Management using Autonomous Underwater Vehicles based Systems", PhD Thesis, Faculdade de Engenharia da Universidade do Porto.

• P. Ramos, S. R. Cunha, M. V. Neves, F. L. Pereira, I. Quintaneiro (2005), “Sewage Outfall Plume Dispersion Observations with an Autonomous Underwater Vehicle”, Water Science & Technology, Volume 52, Issue 12, pp. 283–290.

• P. Ramos, M. V. Neves (2006), “Advanced Modeling of Sewage Outfall Plumes using AUVs based Systems”, Proceedings of 1st Journeys of Hydraulics, Water Resources and Environment, Faculdade de Engenharia da Universidade do Porto, (in Portuguese).

• Ramos, P., Cunha, S. (2006), "Sewage Outfall Plume Mapping using a Least Squares Collocation Method", Proceedings of MWWD2006 - International Conference on Marine Waste Water Discharges 2006, November 6-10, Antalya, Turkey, Turkey.

• P. A. Ramos, M. V. Neves, F. L. Pereira (2007), “Mapping and Initial Dilution Estimation of an Ocean Outfall Plume using an Autonomous Underwater Vehicle”, Continental Shelf Research, Volume 27, Issue 5, pp. 583-593.


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Paulo Jorge Campos Costa graduated in Electrical Engineering at the University of Porto, in 1995. He became Research Assistant at the Viana do Castelo Polytechnic Institute and obtained in 1998 a M.Sc. degree and in 2006 a Ph.D. degree, both in Electrical Engineering and Computers. Presently he is Assistant Professor in Viana do Castelo Polytechnic Institute, developing his research within the Industrial Automation Group of the Institute for Systems and Robotics. Research Interests

His research interests have been related to Control and Supervision of Power Electronics, namely intelligent control, Supervision of Power electronics systems and power quality of renewable energy sources (wind energy).


1. “Direct Torque Control - Frequency Analysis”, Paulo Costa, Adriano Carvalho e Fátima Chouzal. Em Proceedings AMC’98 - Coimbra - 5 th International Workshop on Advanced Motion Control, 1998 , Coimbra, Portugal

2. “Evaluation of the Performances of Different Control Strategies for Induction Machines”, Paulo Costa, Adriano Carvalho e Fátima Chouzal. Em Proceedings 3rd Portuguese Conference on Automatic Control, 1998, Coimbra, Portugal.

3. “Rotor Position Determination Model For Real-Time Control of the Doubly-Fed Induction Machine”. Paulo Costa, António Martins e Adriano Carvalho. Proceedings of IEEE Industrial Electronics Conference, IECON 2003, Roanoke (E.U.A.), pp. 1-4.

4. “Expanding range of rotational speed of induction generator in wind energy”. Paulo Costa, António Martins e Adriano Carvalho. Proceedings of 7th Germany Wind Energy International Technical Conference, DEWEK 2004, Wilhelmshaven (Germany), 2004, pp. 1-4.

5. “Optimization of energy generation in wind farm through fuzzy control”. Paulo Costa, António Martins e Adriano Carvalho. Proceedings of 2004 European Wind Energy

Conference & Exhibition, EWEC 2004, Londres (Reino Unido), 2004, pp. 1-6.

6. “Expanding range of rotational speed of induction generator in wind energy”. Paulo Costa, António Martins e Adriano Carvalho. Internacional Windtech, 2004, Siteur Publications, Netherlands.

7. “Wind energy extraction and conversion: optimization through variable speed generators and non linear fuzzy control”. Paulo Costa, António Martins e Adriano Carvalho. European Wind Energy Conference & Exhibition, EWEC 2006, Atenas (Grécia), 2006.

8. “Coherence and wakes in wind models for electromechanical and power systems standard simulations”. António Martins, Paulo Costa e Adriano Carvalho. European Wind Energy Conference & Exhibition, EWEC 2006, Atenas (Grécia), 2006.

Paulo Jorge Campos Costa Lecturer Phone: +351 258 819 700 1323; Fax: +351 258 827 636 E-mail: [email protected]


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Paulo José Cerqueira Gomes da Costa graduated with a degree in Electrical Engineering at the University of Oporto, in 1991. Then, he pursued graduate studies at the Oporto University, obtaining a MSc degree in Electrical Engineering - Systems in 1995, and a Ph.D. degree in Electrical Engineering in 2000. From 1992 to 1995 he also worked as an assistant lecturer in the Electrical Engineering Department of the Oporto University. Presently he is a Lecturer in Electrical Engineering, developing his research within the Control Systems and Technology Group group of the Institute for Systems and Robotics. His main research interests are in Control, Vision and Mobile Robotics. He is a member of the '‘Sociedade Portuguesa de Robótica’ and the Executive Committee of Robocup's Small Size League. Research Interests His research work is centered on Control, Vision and Mobile Robotics. Control and Vision

The control problem applied to mobile robotics poses many challenges due to the non-linear, noisy and ever changing restrictions that appear on this environment. Using a camera as one of the sensor input devices is an extra challenge. Fortunately, many of the advances taken from this research can be also used to solve several industrial problems and that interaction allows for a better progress on both fields. Mobile Robotics The Robot World Cup Soccer Games, RoboCup, is an international initiative to develop robotics research by providing a standard problem, a soccer game, where a wide range of technologies can be integrated and examined. As a test bed for progressing the technology of multiple agent systems, Robocup serves to bring together teams of researchers in a cooperative environment. It is a condition of entry that teams must disclose the technology used in the creation of their teams. Our system controls a team of five robots that play a football match against another team of robots. This system works autonomously while the game is playing. So it has to keep track of the robots’ position, using a camera and the necessary processing algorithms to extract that information, decide the actions to be performed by each robot and generate the trajectories and the controls associated with that action.

The R&D results from the 5DPO – FEUP/ISR RoboSoccer team are at the moment applied in several industrial protocols with the industry, namely in Industrial Robotics Systems. One patent is submitted and a commercial product developed. Current Projects • 5DPO – FEUP/ISR RoboSoccer Team. Team

leader of Small size league. Will participate in European and World Cup Robot Soccer games and conferences.

• FEUP/IFM/2006 – Project with IFM, SA, hardwood veneer and plywood industry. Artificial Vision based quality control system.

• FEUP/VICTORINDUSTRIAS/2006 – Project with VictorIndustrias, Lda, equipment developer for the ceramic industry. Robotic system with artificial vision.

• FEUP/FLUPOL/2006 - Project with Flupol, SA, specialist company in industrial applications of fluoropolymer coatings. Robotic system with artificial vision.

Selected Publications 1. “5dpo Team Description”, Robocup 1998,

Paulo Costa, A. Paulo G.M. Moreira, Paulo Marques, Pedro Costa – Robocup 1998 – Robot World Cup Soccer Games and Conference, pag. 511-517, 4-8 Julho 1998, Paris, France

2. “5dpo-2000 Team Description”, Robocup 1999, Paulo Costa, A. Paulo G.M. Moreira, Paulo Marques, Pedro Costa, Aníbal Matos – Robocup 1999 – Robot World Cup Soccer Games and Conference, pag. 217-220, 31 Julho-6 Agosto 1999, Stockolm, Sweeden

Paulo José Cerqueira Gomes da Costa Lecturer Phone: 351-22-204.1690; Fax: 351-22-2041632 E-mail: [email protected]


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5. “Vision Based Real-Time Localization of multiple Mobile Robots”, A. Paulo G.M. Moreira, Armando Sousa, Paulo Costa, - FSR 2001 – International Conference on Field and Service Robotics, pag. 103-106, 11-13 de Junho 2001, Ulm, Finlandia

6. "Variable Resolution System in Mobile Robotics", Armando Sousa, Paulo Costa e António Moreira, Pags 489 to 494, Proceedings of the 5th Portuguese Conference on Automatic Control, 5 a 7 de Setembro de 2002 , Aveiro, Portugal

7. “Control and Model Identification of a Mobile Robot’s Motor based in Least Squares and Instrumental Variable methods.”, André Scolari Conceição, A.Paulo Moreira, Paulo J. Costa, MMAR 2005 – Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics, Pag. 479-484, 29 August- 1 September 2005, Miedzyzdroje, Poland

8. “Self Localization of an Autonomous Robot: Using an EKF to merge Odometry and Vision based Landmarks”, Armando Jorge Sousa, Paulo José Costa, António Paulo Moreira, Adriano Carvalho, Pag. 227-234, ETFA'05 - 10th IEEE International Conference on Emerging Technologies and Factory Automation, Catania, Italy, 19-22 September 2005

9. “Dynamic parameters identification of an omni-directional mobile robot”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics- ICINCO2006, Setúbal, Portugal-August 2006, pages: 565-570

10. “Trajectory control and modelling of an omni-directional mobile robot”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics- ICINCO2006, Setúbal, Portugal-August 2006, pages: 412-417

11. “Controller Optimization and Modelling of an omni-directional mobile robot”, André Scolari Conceição∨, A. Paulo Moreira, Paulo J. Costa, CONTROLO’2006 - The 7th Portuguese Conference on Automatic Control, 11-13 September2006, Lisbon-Portugal.

12. “Trajectory tracking for Omni-directional Mobile Robots based on Restrictions of the Motor's Velocities”, André Scolari Conceição∨, A. Paulo Moreira, Paulo J.

Costa, 8th International IFAC Symposium on Robot Control - Syroco 06, Santa Cristina Convent, University of Bologna (Italy), September 6 - 8, 2006

13. “Architecture of Cooperation for Multi-Robot Systems”, André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Luis Paulo Reis, First IFAC Workshop on Multivehicle Systems (MVS'06), Salvador, Bahia, Brasil, 3 a 6 de Outubro, 2006


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Paulo Lopes dos Santos graduated with a degree in Electrical Engineering at the University of Oporto, in 1981. Immediately after his graduation he went to Eindhoven for a 6-month training period at a Hybrid Circuits Technology Laboratory of Philips. When he returned to Portugal he worked as a System Engineer at Companhia Portuguesa de Computadores from 1982 to 1985. Then, he pursued graduate studies at the Oporto University, obtaining a MSc degree in Computers and Digital Systems in 1987, and a Ph.D. degree in Electrical Engineering in 1994. From 1983 to 1994 he also worked as an assistant lecturer in the Electrical Engineering Department of the Oporto University. In 1985 he started a full-time academic career, and presently he is a Lecturer in Electrical Engineering, developing his research within the Control Systems and Technology Group group of the Institute for Systems and Robotics. His main research interest is System Identification. He is a member of the 'Associação Portuguesa de Controlo Automatico'. Research Interests His research work is centered on System Identification. System Identification. His main line of pursuit has been the development of System Identification algorithms for control. His work can be divided into two distinct areas: • Frequency Domain Identification • Time Domain Identification In the area of Frequency Domain Identification an algorithm has been developed. This algorithm identifies transfer functions from Log frequency responses (Bode plots). Its major and novel contributions are: - Using transfer function poles and zeros as

parameters allowing to immediately obtain the factorized form

- Automatic poles and zeros detection - Poles and zeros estimation only requiring the

magnitude curve. Transport delays, if any, can be easily estimated by means of a simple least squares that uses the additional information supplied by the phase curve.

This algorithm has been successfully used to identify dynamical systems from noisy data. One of its most interesting characteristics is the fact that it often performs an automatic model reduction. The controller designed based on the reduced models were successfully tested controlling the full order models. This is a consequence of the fact that the logarithmic frequency response of the reduced models are very closed to the response of the full order models. Trying to explore this property this

algorithm was used in controller discretization. The results were very interesting and prove that discretization methods based on this algorithm have some advantages over some well established methods.

In the last years he as focused his research on Time Domain Identification, namely, on the development of new Subspace State Space Identification Algorithms for Bilinear and Linear Parameter Varying systems.

Linear Systems Identification is nowadays a mature subject, grounded on a solid theory. It has developed a large number of computational tools that may be successfully applied to different real-life applications such as industrials processes, aeronautic engineering, biological systems, etc.. Despite the complexity of these applications, in most situations the linear framework provides satisfactory linear models. However, in many instances linear models are insufficient to describe the nonlinear behavior of a significant number of complex real world systems. Unfortunately, the tools for dealing with nonlinear systems have not reached the level of maturity that their linear counterparts have. This is due in part to the fact that most linear systems tools do not carry over to the nonlinear case. The spectrum of tools for dealing with systems in general is quite broad, ranging from the linear on one extreme to the fully nonlinear on the other extreme. In the middle of the spectrum we find bilinear systems. The tools for dealing with bilinear systems are similar to those of linear systems, except that their linearity is either restricted to a higher dimensional vector space or solved iteratively as linear systems. Bilinear systems thus represent an important class of

Paulo Lopes dos Santos Lecturer Phone: 351-22-508.1789; Fax: 351-22- 5081440 E-mail: [email protected]


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nonlinear systems and have been used to model electrical networks, induction and DC motors, the rainfall-runoff process, hydraulic and fluid flow systems], compartmental systems, and electro-cardiovascular systems among many others.

In recent years there has been a considerable effort in developing algorithms for bilinear system identification. A few algorithms have been developed. However all of them have to process matrices with dimensions that grow exponentially with the system order. This severely limits the algorithm applicability ton low-order systems.

In the last few years, Paulo Lopes dos Santos has been focused to solve this problem. This work has been done in cooperation with Prof. José A. Ramos from the Indiana University Pursue University at Indianapolis (IUPUI). They have already some promising results that allowed to solve some still opened problems.

Since, the recent emerged LPV system identification is, under certain conditions, a very similar problem to the bilinear system identification, the results achieved so far have been successfully applied to LPV system identification.

linear systems in which the system matrices depend on

Current Projects • SUBSID – Subspace System Identification

which is a ISR financed project. • Development of Cooperative Activities between

FEUP – Portugal and IUPUI – USA on Bilinear System Identification financed by IUPUI.

Selected Publications 1. P. Lopes dos Santos e J. L. Martins de Carvalho,

“A Robust Algorithm for Identifying Transfer Function Poles from a Frequency Response”, Syst. Anal. Model. Simul., 7, Akademie-Verlag Berlin,1990

2. P. Lopes dos Santos e J. L. Martins de Carvalho, “Automatic Transfer Function Synthesis from a Bode Plot”, Proceedings of CDC 90 - 29th Conference on Decision and Control, Honolulu, Hawaii in December 1990.

3. Catarina J. M. Delgado, P. Lopes dos Santos, J. L. Martins de Carvalho "Numerical Algorithm for Recursive Subspace Identification",CDC 98 - 37th Conference on Decision and Control, December 16-18, 1998, Tampa, Florida, U.S.A.

4. P. Lopes dos Santos, J. L. Martins de Carvalho, "Improving the Numerical Efficiency of the B and D estimates Produced by the Combined Deterministic-Stochastic Subspace Identification Algorithms", 42nd IEEE

Conference on Decision and Control, pp. 3473-3478, 9-12/Dec. 2003, Maui, Hawaii, USA.

5. Catarina J. M. Delgado, P. Lopes dos Santos, P., J. L. Martins de Carvalho, “A New Approach to the Estimation of the Input Matrices Subspace Identification Algorithms”, Proceedings of the 43rd IEEE Conference on Decision and Control pp

6. José A. Ramos, P. Lopes dos Santos, “A Subspace Approach for Identifying Bilinear Systems with Deterministic Inputs”, Proceedings of 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, pp 7114-7119, Seville, Spain, 12-15 Dec. 2005,

7. P. Lopes dos Santos, José A. Ramos, J.L. Martins de Carvalho, “Identification of Bilinear Systems Using an Iterative Deterministic-Stochastic Subspace Approach”, Proceedings of 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 pp 7120-7126, Seville, Spain, 12-15 Dec. 2005

8. Catarina J. M. Delgado, P. Lopes dos Santos e J. L. Martins de Carvalho, “A New Insight to the Matrices Extraction in a MOESP Type Subspace Identification Algorithm” Int.l Journal of Syst. Science, Vol. 37, Nr 8, 20 June 2006, pp 565 – 574

9. P. Lopes dos Santos, José A. Ramos, J.L. Martins de Carvalho, “Subspace Identification of Linear Parameter Varying Systems with Innovation-Type Noise Models”, Proc. of CONTROLO 2006, Seventh Portuguese Conference on Automatic Control, Lisbon, Portugal, Sept 11-13, 2006

10. José A. Ramos, P. Lopes dos Santos, Erik I. Verriest, “A Vectorized Principal Component Approach for Solving the Data Registration Problem“ Proc. of the 45th IEEE Conference on Decision and Control, San Diego, pp 1297-1302 CA, USA, 13-15 Dec. 2006


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Paulo Portugal graduated in Electrical and Computer Engineering at the University of Porto in 1992. He pursued graduate studies at University of Porto, obtaining in 1995 an MSc degree in Electrical Engineering -Industrial Automation, and in 2005 he received his Ph.D. degree in Electrical Engineering. He started a full-time academic career in 1992, and presently he is Assistant Professor in Electrical and Computers Engineering Department at the University of Porto. He is a permanent researcher in the Institute for Systems and Robotics (ISR). His main interests are Industrial Communication Systems and Dependabilty/Performability Evaluation. He is a member of ISA (The Instrumentation, Systems and Automation Society) and the Portuguese'Ordem dos Engenheiros'. .Research Interests R&D interests are centered around industrial automation, with a strong emphasis on the following areas:

- Industrial Communication Systems - Real-Time Communication Protocols - Dependability/Performability Modeling and

Evaluation - Fault-Tolerant and Distributed Real-Time

Systems - Safety-Critical Systems Current research activities are centered on performance evaluation of IEEE 802.11 wireless networks and their use in industrial applications:

- Research and develop novel solutions to support real-time communication in IEEE 802.11e networks in industrial environments.

- Propose new real-time communication mechanisms from two distinct viewpoints: a) based on traffic separation procedures for “upload” traffic; b) based on real-time scheduling algorithms used by Access Points for “download” traffic.

- Develop performability models based in analytical and simulation approaches for the evaluation of IEEE 802.11 networks.

Selected Publications (2001-2006) Ph.D. Theses (in Portuguese except where otherwise stated) Author: Ricardo Alexandre Reinaldo de Moraes

Title: Arquitecturas de Qualidade de Serviço (QoS) para o suporte de Comunicação em Sistemas de Controlo via Redes Institution/Date: FEUP Supervisor: Francisco Vasques Co-Supervisor: Paulo Portugal

Thesis Dependability Evaluation of FieldBus Networks. Ph.D. Thesis. Faculty of Engineering. University of Porto. 2005.

Book Chapters The GRAFCET Specification Language, Paulo Portugal, Adriano Carvalho, in “The Industrial Information Technology Handbook”, CRC Press, FL., 2004, ISBN 0-8493-1985-4.

Publications in International Journals Ricardo Moraes, Francisco Vasques, Paulo José Portugal, José Fonseca, "A Traffic Separation Mechanism (TSm) allowing the coexistence of CSMA and real-time traffic in Wireless 802.1e1 Networks", in WSEAS Transactions on Communications, pp.890-897, 2006.

International Conference Papers Ricardo Moraes, Francisco Vasques, Paulo José Portugal, José Fonseca, "Real-Time Communication in 802.11 Networks: The Virtual Token Passing VTP-CSMA Approach", in LCN 2006-31th Annual IEEE Conference on Local Computer Networks, 2006.

Paulo Portugal Lecturer Phone: 351 22 508 1815; Fax: 351 22 508 1443 E-mail: [email protected]


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Ricardo Moraes, Francisco Vasques, Paulo José Portugal, "Simulation Analysis of the IEEE 802.11e EDCA Protocol for an Industrially-Relevant Real-Time Communication Scenario", in 11th IEEE International Conference on Emerging Technologies and Factory Automation, 2006.

Ricardo Moraes, Francisco Vasques, Paulo José Portugal, "Simulation Analysis of the IEEE 802.11e EDCA Protocol for an Industrially-Relevant Real-Time Communication Scenario", in 11th IEEE International Conference on Emerging Technologies and Factory Automation, 2006.

Ricardo Moraes, Francisco Vasques, Paulo José Portugal, José Fonseca, "A new Traffic Separation Mechanism (TSm) in Wireless 802.11e Networks: A simulation study", in 6th WSEAS International Conference on Robotics, Control and Manufacturing Technology (ROCOM ´06), 2006.

Ricardo Moraes, Francisco Vasques, Paulo José Portugal, José Fonseca, "An Enhanced Traffic Separation Mechanism to Support Real-Time Communication in IEEE 802.11e Networks", in 24th Brazilian Symposium on Computer Networks, 2006.

Paulo José Portugal, Adriano Carvalho, "A Simulation Model based on a Stochastic Petri Net Approach for Dependability Evaluation of PROFIBUS-DP Networks", in 10th IEEE International Conference on Emerging Technologies and Factory Automation, 2005.

Paulo José Portugal, Adriano Carvalho, Francisco Vasques, " A Model Based on a Stochastic Petri Net Approach for Dependability Evaluation of Controller Area Networks (CAN)", in Proceedings 5th IFAC International Conference on Fieldbus Systems and their Applications, 2005.

José Augusto Carvalho, Paulo José Portugal, Adriano Carvalho, "Assessment of PROFIBUS Networks Using a Fault Injection Framework", in Proceedings 10th IEEE International Conference on Emerging Technologies and Factory Automation, 2005.

José Augusto Carvalho, Adriano Carvalho, Paulo José Portugal, "Experimental Analysis of Outage Times for PROFIBUS Networks", in Proceedings 31st Annual Conference of the IEEE Industrial Electronics Society, 2005.

Paulo José Portugal, Adriano Carvalho, "Dependability Evaluation of Profibus-DP Networks by Using a Stochastic Petri Net Framework", in IEEE International Conference on Industrial Technology, 2004.

Paulo José Portugal, Adriano Carvalho, "A Framework for Dependability Evaluation of

Fieldbus Networks", in 5th IEEE International Workshop on Factory Communication Systems, 2004.

Paulo José Portugal, Adriano Carvalho, "A Stochastic Petri Net Framework for Dependability Evaluation of Fieldbus Networks - A Controller Area Network (CAN) Example", in International IEEE Conference in Mechatronics and Robotics - MECROB 2004, 2004.

Paulo José Portugal, Adriano Carvalho, "An Approach Based on Stochastic Petri Nets for Dependability Evaluation of Profibus-DP Networks", in IEEE International Conference on Industrial Electronics, Control and Instrumentation, IECON´04, 2004.

Paulo José Portugal, Adriano Carvalho, José Augusto Carvalho, "A Framework for Dependability Evaluation of PROFIBUS Networks", in Proceedings of the International Symposium on Industrial Electronics (ISIE´03), 2003.

Paulo José Portugal, Adriano Carvalho, "Dependability Validation Techniques for Electronic Systems", in Proccedings of the Sixth European Space Power Conference, 2002.

Paulo José Portugal, Adriano Carvalho, "Fieldbus Networks: a Dependability Evaluation", in ISA-Instrumentation Society of America Industrial In-Plant Communications Conference, 2002.

Paulo José Portugal, Adriano Carvalho, "On Dependability Evaluation of Fieldbus Networks: a Permanent Fault Analysis", in Proceedings of IECON´2001 - 27th Annual Conference of the IEEE Industrial Electronics Society, 2001.

Paulo José Portugal, Adriano Carvalho, "On Dependability Evaluation of Fieldbus Networks: a Transient Fault Analysis", in IFAC International Conference on Fieldbus Systems and their Applications – 4th FET´2001, 2001.

Prizes and awards James C. Hung Best Paper Award in Factory Automation. 10th IEEE International Conference on Emerging Technologies and Factory Automation. 2005.


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Pedro Ferreira do Souto graduated in Electrical Engineering at the University of Porto, in 1986. From 1986 to 1992 he was a teaching assistant in the Department of Electrical and Computing Engineering of the Faculdade de Engenharia da Universidade do Porto (FEUP). In 1992 he joined the Ph.D. Program of the Computer Science Department of the State University of New York at Stony Brook, from which he received a Ph.D. degree in 1999. He then returned to the Electrical and Computer Engineering Department of FEUP, where he is an Assistant Professor. He is also a member of the Industrial Automation group of the Institute of Systems and Robotics. His main research interests are systems software for embedded and distributed systems. Research Interests My current research interests are focused on embedded and distributed systems, especially fault-tolerance and dependability aspects. In particular, I'm applying formal methods to the validation of distributed fault-tolerant algorithms and to the evaluation of their reliability.


1. P. Souto, ``Integrating Transactions and Distributed Shared Memory for Distributed Programming”, Ph.D. Thesis, Computer Science Department, SUNY at Stony Brook, May 1999.

2. P. Souto and E. Stark, ``A Distributes Shared Memory System for Free BSD”, in the Proceedings of the 1997 Usenix Technical Conference, January 1997.

3. João B. Sousa, F. Lobo Pereira, P. F. Souto, L. Madureira and E. Silva, “Distributed Sensor and Vehicle Networked Systems for Environmental Applications”, in the Proceedings of Environment 2010: Situation and Perspectives for the European Union, May 2003. Porto, Portugal

4. V. Rosset, P. F. Souto and F. Vasques, “A Group Membership Protocol for Communication Systems with both Static and Dynamic Scheduling”, in the Proceedings of the 6th IEEE International Workshop on Factory Communication Systems (WFCS-06)”, Torino, Italy, June 2006, pp. 23-32

5. V. Rosset, P. F. Souto and F. Vasques, “Model-Checking a Group Membership Protocol for TDMA-based Networks with both Static and Dynamic Scheduling”, in the 6th European Dependable Computing Conference (Fast

Abstract) (EDDC-06), Coimbra, Portugal, October 18-20, 2006.

Pedro A. G. L. Ferreira do Souto Lecturer Phone: 351-22-204.1610 Fax: 351-22- 200.0808 E-mail: [email protected] Personal URL: http://deec02ws29.fe.up.pt/~souto/


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Peter Ho graduated from the University of Reading in 1992 with a degree in Food Technology and went on to complete his Ph.D. in Biotechnology (Major: Food Science and Engineering) with the College of Biotechnology from the Portuguese Catholic University (ESB-UCP) in 2001. He has been a lecturer with the College of Technology and Management of the Polytechnic Institute of Viana do Castelo since 2001. His main teaching interests are in the area of Food Science and Engineering, namely Food Preservation, Food Packaging and Sensory Analysis. His main research activities are carried out within the Institute for Systems and Robotics in the area of Chemometrics and Statistical Experimental Design. His other research interests include Food Process and Product Optimization, Food Quality and Safety Assessment and Sensory Analysis. He currently serves on the steering committee of the EU Thematic Network ISEKI–Food 2. on “Integrating Safety and Environment Knowledge In Food towards European Sustainable Development” and also as coordinator of a working group on “Quality Assurance of European Food Studies”. He is a Member of the Institute of Food Science and Technology, the ISEKI-Food Association and the European Federation of Biotechnology section on Biochemical Engineering Science. Research Interests His research has focused on the application of experimental design, statistical modeling and the use of multivariate statistical techniques, as applied to research areas in food engineering, food microbiology and sensory analysis. He has also explored the use of Experimental Design and Chemometrics in the modeling of Sugar Crystallization.

His current research interest is in the application of Chemometrics and statistical modeling and analysis in process monitoring and predictive modeling of bioprocesses.

Current and recent projects

• ISEKI–Food 2. Integrating Safety and Environment Knowledge In Food towards European Sustainable Development, 226032-CP-1-2005-1-PT-ERASMUS-TN. (2005-...)

• Batch Process Optimisation (BatchPro), FP5-Research Training Network (RTN), EU Contract Number RTN1-1999-00245. (1999-2004).

• Improving methods and protocols for the preparation of dried lactic acid bacteria and other probiotic starter cultures, FCT - BD/18512/98 - Portuguese Science Foundation and Technology (2000-2002).

Selected Publications (2001 - )

• I. M. L. B. Avila, R. C. Martins, P. Ho, M. Hendrickx, and C. L. M. Silva. Variability in quality of white and green beans during in-pack sterilization. Journal of Food Engineering 73(2):149–156, 2006.

• M. J. Rodrigues, P. Ho, M. E. Lopez-Caballero, N. M. Bandarra, and M. L. Nunes. Chemical, microbiological, and sensory quality of cod products salted in different brines. Journal of Food Science 70(1):M1–M6, 2005.

• A. S. Carvalho, J. Silva, P. Ho, P. Teixeira, F. X. Malcata, and P. Gibbs. Effects of various sugars added to growth and drying media upon thermotolerance and survival throughout storage of freeze-dried Lactobacillus delbrueckii ssp. bulgaricus. Biotechnology Progress 20(1):248–254, 2004.

• P. Georgieva, S. Feyo de Azevedo, M. J. Gonalves, and P. Ho. Modeling of sugar crystallization through knowledge integration. Engineering in Life Science 3(3):146–153, 2003.

• P. Ho, M. C. M. Silva, and T. A. Hogg. Multiple imputation and maximum likelihood principal component analysis of incomplete multivariate data from a study of the ageing of port. Chemometrics and Intelligent Laboratory Systems 55(1-2):1–11, 2001.

Peter Ho Lecturer Phone: +351-258-819700 Ext. 1252 Fax: +351-258-827636 E-mail: [email protected] ; [email protected]


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Romualdo Salcedo graduated with a degree in Chemical Engineering at the University of Oporto, in 1975. He pursued graduate studies at McGill University, Canada, obtaining in 1977 a M. Eng. degree and in 1981 a Ph.D. degree, both in Chemical Engineering. After returning to Portugal, he worked as an invited lecturer for the Chemical Engineering Department of the University of Porto, while at the same time serving a four year industrial post in a textile industry. In 1985 he started a full-time academic career, and presently he is Professor of Chemical Engineering, developing his research within the Process Systems Engineering group of the Institute for Systems and Robotics. His main interests are Pollution Control and Process Optimization. He is a member of the Portuguese 'Ordem dos Engenheiros', of the International Society for Electrostatic Precipitation, of The Filtration and Separation Society and of the Air and Waste menagement Association. Research Interests Our work is centered around process optimization and air pollution control.

Process optimization. Our main line of pursuit has been the development of stochastic algorithms for combinatorial, continuous non-linear (NLP) and mixed-integer non-linear programming (MINLP) problems, using both simulated annealing-based tools and adaptive random search. We have developed an optimized simulator for optimization problems (SIMOP), coupling our stochastic algorithms with tearing/partition algorithms and linear and nonlinear solvers. Current research is exploiting this algorithm for large-scale problems, and coupling our stochastic optimizers with the Ascend IV package developed at Carnegie Mellon University.

Air pollution. Here, we are interested in two mainstream topics, which are:

• Dry cleaning of acid gases. We have evaluated the possible application of the concept of 'cyclone-reactor' for cleaning HCl, which is a typical component of incinerator off-gases. Dry lime is injected with controlled particle size and humidity in a laboratory-scale reverse-flow cyclone reactor. Laboratory experiments involved a detailed study of kinetic parameters and modeling on a semi-batch reactor, and the detailed experimental study and modeling of the performance of the cyclone reactor. The proposed system is capable of removing >95% of the HCl in very short residence times (50 ms). Current research exploits optimized recirculating cyclones to increase sorption utilization.

• Optimized design of air pollution control devices. We have developed very high efficiency reverse-flow cyclones (RS_VHE, patented) and recirculating cyclones (patented)

which may reduce particulate emissions to levels unatainable with high-efficiency cyclobes (40-60 mg/Nm3). We have so far designed nine industrial cyclone plants that operate as expected, one of them for France. Current research involves the exploitation of electrostatic recirculation to further decrease particulate emissions down to the 20 mg/Nm3 level.

Current Projects • Recirculating cyclones for acid gas cleaning .

Vânia Chibante (PhD FCT grant). Project 37992/EQU/2001, with co-supervision of Dr. Ana Fonseca (UFP).

• Large-scale optimization with stochastic algorithms. Hélder Gomes da Silva (PhD FCT grant), with co-supervision of Dr. Nuno Oliveira (FCTUC).

• Capturing fine particles with electrostatic recirculation. Andreia Fardilha (PhD FCT grant), with co-supervision of Dr. Paulo Araújo (Quimigal SA).

Selected Publications (last 5 years) 10. M.F. Cardoso, R.L. Salcedo, S. Feyo de

Azevedo e D. Barbosa, Letter to the editor, Comp. Chem. Eng., 26(1), 141 (2002).

11. Lima, R. e R.L. Salcedo, An optimized strategy for equation-oriented global optimization, European Symp. on Comp. Aided Chem. Eng, vol.10, J. Grievink e J.V. Schijndel (eds), Elsevier Science B.V., 913-918, ISBN 0-444-51109-1 (2002).

12. R.L. Salcedo e M.J. Pinho, Pilot and Industrial-Scale Experimental Investigation of

Romualdo Salcedo Professor Phone: 351-22-204.1644; Fax: 351-22- 200.0808 E-mail: [email protected] Personal URL: http://www.fe.up.pt/deqwww/staff/RSalcedo.html


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Numerically Optimized Cyclones, Ind. Eng. Chem. Res., 42, no.1, 145-154 (2003).

13. A.M. Fonseca, J.M. Órfão e R.L. Salcedo, A new approach to kinetic modeling of the reaction of HCl with solid lime at low temperatures, Chem. Eng. Sci. 58(15), 3499-3506 (2003).

14. R.L. Salcedo, R. Lima e M.F. Cardoso, Global optimization of chemical processes using simulated annealing, Proc. Indian Natn. Sci. Acad., 69(A), no. 3-4, 331-373 (2003).

15. R.L.R. Salcedo, V. G. Chibante e I. Sôro, Laboratory, pilot and industrial-scale validation of numerically optimized reverse-flow gas cyclones, Proceedings Filtech Europa 2003, Vol. II:226-II:233 (2003)

16. R.L.R. Salcedo, V. G. Chibante e I. Sôro, Laboratory, pilot and industrial-scale validation of numerically optimized reverse-flow gas cyclones, Trans. of the Filt. Soc. 4(3), 220-225 (2004).

17. E.C. Ferreira, R.L. Salcedo e R. Lima, Spreadsheets in Chemical Engineering Education – a tool in process design and process integration, Int. J. Eng. Education, 20(6), 928-938 (2004).

18. R.M. Lima, G. François, B. Srinivasan e R.L. Salcedo, Dynamic optimization of batch emulsion polymerization using MSIMPSA – a simulated annealing-based algoruthm, Ind. Eng. Chem. Res. 43(24), 7796-7806 (2004).

19. R. Oliveira e R. Salcedo, Benchmark testing of simulated annealing, adaptive random search and genetic algorithms for the global optimization of bioprocesses, Adaptive and Natural Computing Algorithms, Springer Computer Science,Springer Wien New York, ISBN 3-211-24934-6, 292-295 (2005).

20. R.L.R. Salcedo, A.M. Fonseca, V.G. Chibante e G. Cândido, Fine Particle Capture in Biomass Boilers with recirculating Gas Cyclones: theory and practice, Advanced Gas Cleaning Technology, C. Kanaoka, H. Makimo e H. Kamiya (Eds), J. Shobo (Pubs), ISBN4-915245-61-6 (2005)

21. R. Lima, R.L. Salcedo e D. Barbosa, SIMOP-Efficient reactive distillation optimization using stochastic optimizers, Chem. Eng. Sci. , 61, 1718-1739 (2006).

22. R.L.R. Salcedo, V.G. Chibante e A.M. Fonseca, Dry scrubbing of acid gases in recirculating cyclones, EMChIE 2006, 5th European Meeting on Chemical Industry and Environment, May 3-5, Vienna/Austria (2006).

23. H. G. Silva e R.L. Salcedo, Modeling and Optimization of Chemical Processes: Ascend IV and Stochastic Optimizers, Proceedings of the MS2006 17th International IASTED Modeling and Simulation Conference, Montreal, ISBN 0-88986-592-2, 493-498 (2006).

24. R.L.R. Salcedo, A.M. Fonseca, V.G. Chibante e G. Cândido, Fine Particle Capture in Biomass Boilers with Recirculating Gas Cyclones: theory and practice, Powder Technology, invited paper (2006).


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Rui Chibante graduated and received the M.Sc. degree in Electrical and Computers Engineering from the Faculty of Engineering of Porto University, Portugal, in 1995 and 1999 respectively. In 2006 received the Ph.D degree in Science Engineering from the Faculty of Engineering of Porto University, Portugal. He is currently a lecturer in the Department of Mathematics, School of Engineering of Polytechnic Institute of Porto, (ISEP/IPP), Portugal. His research interests include modelling of power electronic devices, simulation of power electronic systems, numerical methods for partial differential equations and heuristic optimization techniques. He develops his research activities in the Industrial Automation Group of the Institute for Systems and Robotics (ISR-Porto). Research Interests R&D interests are centered at developing tools to support power electronic designers in the industrial electronic field. These tools are mainly power semiconductor models for circuit simulation. Research activity consists in two main lines: a) Development of physics-based power

semiconductor models; b) Development of parameter extraction

procedures. The goal is to develop and implement physics-based models for all power bipolar semiconductors using the innovative approach proposed by this research team. Emergent technologies concerning device’s structures and physical properties will also be considered. Important advanced concerning temperature effects are expected. The trend in power electronics continues toward greater packaging density, speed and high power dissipation. This technology trend resulted in increase of the failure rate and a reduction of the reliability. Thus, thermal simulations are playing an essential role in the design of high power systems such as vehicles, ships and space-crafts. Physics-based dynamic electro-thermal models will be developed in order to include temperature dependence of power devices since they are heated significantly by the power dissipated within the device and by power dissipated within adjacent devices. This is achieved by coupling a temperature-dependent device electrical model with dynamic thermal models for the device silicon chip, packages, and heatsinks. The instantaneous value of the device temperature, which is estimated by the thermal network, is used for the calculation of the

temperature dependent model parameters and temperature dependent silicon properties. Extraction of parameters for models of power semiconductors is a need for researchers working with development of power circuits. One of the drawbacks of physics based models is how to extract the numerous parameters to describe the model. An innovative parameter extraction approach based in an optimization algorithm has been developed by this research team. The aim is to continue previous research in order to enhance the developed parameter extraction procedure by comparing some optimization techniques. The goal is to investigate and compare the performance of direct search algorithms and stochastic optimization methods. Three leading methods will be studied: simulated annealing, genetic algorithms and tabu search. Power semiconductor models together with parameter extraction procedures constitute a global modeling tool that enforces the application of computational simulation for power circuit design. As development tools they are used the following packages: PSPICE, SABER and MATLAB / Simulink.

Selected Publications 1. Chibante, R., Araújo, A. and Carvalho, A., A

FEM Punch-Through IGBT Model Using an Efficient Parameter Extraction Method, Proceedings of the 31th Annual Conference of the IEEE Industrial Electronics Society (IECON’05), 6-10 Nov, Raleigh, North Carolina, USA, 2005.

2. Chibante, R., Araújo, A. and Carvalho, A., Modeling buffer layer IGBTs with an efficient parameter extraction method, Proceedings of the 36th Power Electronics Specialists Conference

Rui Chibante Lecturer Phone: +351 228340500; Fax: +351 228321159 E-mail: [email protected]


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(PESC’05), pp. 2194-2200, 12-16 June, 2005, Recife, Brasil.

3. Chibante, R., Araújo, A. and Carvalho, NPT-IGBT modeling using a FEM formulation and optimization-based parameter extraction procedure, Proceedings of the 1st Euro-Latin American Workshop on Engineering Systems, Trujillo, Peru, 2005.

4. Chibante, R., Araújo, A. and Carvalho, A., A Simple and Efficient Parameter Extraction Procedure for Physics Based IGBT Models, Proceedings of 11th International Power Electronics and Motion Control Conference (EPE-PEMC’04), Vol. 2, pp. 40-48, Riga, Letónia, 2-4 Set 2004.

5. Chibante, R., Araújo, A. and Carvalho, A., A New Physics Based SPICE Model for NPT IGBTs, Proceedings of the 29th Annual Conference of the IEEE Industrial Electronics Society (IECON’03), Vol. 2, pp. 1156-1161, Roanoke, Estados Unidos, 2-6 Nov 2003.

6. Chibante, R., Araújo, A. and Carvalho, A., “A New Physics Based SPICE Subcircuit Model for Insulated Gate Bipolar Transistors (IGBTs)”, Proceedings of 10th European Conference on Power Electronics and Applications (EPE’03), Toulouse, França, 2003.


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Sebastião Feyo de Azevedo obtained his licenciate degree in Chemical Engineering from the University of Porto in 1973 and the PhD in Chemical Engineering from the University of Wales (Swansea) in 1982. Since 1996, holds the qualification title of 'Agregado' from the Faculty of Engineering of the University of Porto (FEUP), where he is Professor at the Department of Chemical Engineering, since December 1997.

He is Fellow (Counsellor) of the Institution of Engineers of Portugal, Member of the Portuguese Academy of Engineering (by invitation), Member of the Portuguese Society of Automatic Control (founder) and Member of the Portuguese Society for Biotechnology.

His mains interests are in Process Systems Engineering, Instrumentation and Control, Higher Education (Bologna Process) and Chemical Engineering Education.

Since July 2001, he is Head of the Department of Chemical Engineering and from 2001 to January 2007 held the position of Director of Studies of the second cycle degree in chemical engineering in FEUP.

Since May 1997, he is the Scientific Co-ordinator and Executive Director of the Research Unit Institute for Systems and Robotics-Porto, at FEUP. From 1997 to 2004 held the position of Chairman of the National Board of the Institute for Systems and Robotics.

Since 2004, he is (by election) National Vice-President of the Institution of Engineers of Portugal and inherently Chairman of the Accreditation Council of this professional association.

From January 1999, he is the Institution’s representative in the Working Party on Education of the European Federation of Chemical Engineering, having been elected in August 2006 Chairman of the WPE for 2007-2010.

From 2003 to 2005 worked as Adviser to the Minister of Science, Innovation and Higher Education for the Bologna Process and as National Delegate in the BFUG – Bologna Follow-Up Group. By appointment of the Minister of Science, Technology and Higher Education he is from May 2006 member of the National Follow-Up Group for the Bologna Process and from January 2007 again National Delegate in the BFUG.

In recent years he has further acted as Member of the Executive Board of the Faculty of Engineering of the University of Porto (January 1997 - March 2001), Member of the Board of EUCA - European Union Control Association (1999-2003), Member of the Board of the Section of Biochemical Engineering Science of the European Federation of Biotechnology (1996-1999), Portuguese Delegate to the Working Party on Measurement and Control of the European Federation of Biotechnology (1992-1999) and as Member of the National Board of the Institution of Engineers (Accreditation Council, 1992-1998 and 2001-2004).

In 1993, he has been distinguished by the S.I.T. - Sugar Industry Technologists Inc., with the 'Annual Meade Award' for the best oral and written work presented to the Annual Technical Meeting of the SIT and in 1998 his Ph. D. Student Nuno Faria received the Procter and Gamble best poster prize for innovation for the work presented in the World Congress on Particle Technology, Brighton, UK.

Research Interests His research interests, for more than twenty five years now, are directed for problems of modelling, optimization and control of chemical and biochemical processes.

In recent years his activity has been directed to the application of computer-aided process operation methodologies to industrial processes, namely - i. process modelling and identification; ii. process monitoring through software sensors; iii. process control; iv. Knowledge engineering and hybrid methods for modelling, and control; and v. process optimization.

Much of the theoretical activity has been developed in R&D contract work with Industrial Companies, viz. - (i) modelling of Low Density Polkyethylene Reactors; (ii) computer-aided operation of crystallization and evaporation units in cane sugar production and (iii) modelling and monitoring of fermentation processes.

Current and recent projects • CHEMEPASSE - Chemical Engineering

Mobility Tools, Erasmus Mundus 2006-2979-001, 13 European Institutions,, November 2006-October 2009

Sebastião Feyo de Azevedo Professor Phone: (351)-22.508.1694, Fax: (351)-22.508.1632 / 1440 E-mail: [email protected] Personal URL: http://www.fe.up.pt/~sfeyo


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• EUR-ACE Implementation, SOCRATES – EAC 01/06, Institution of Engineers and 13 other European Partners, September 2006 - July 2008

• HYBMOD -Advanced Bioprocesses Automation based on Hybrid Grey-Box Systems, POCI/BIO/56571/2004, ISR-FEUP, IBET-FCTUNL, July 2005 - June 2008

• Postgraduate network in Process Systems Engineering, ALFA Program AML/B7-311/II-0385-FA; cooperation with 4 european and 5 latin-american universities, 2004-2006

• Characterisation of agglomeration and of crystallisation kinetics in industrial processes through image analysis, FCT/PRAXIS XXI contract POCTI/1999/EQU/33131, 2000-2003

• Batch Process Optimisation (BatchPro), FP5 - Research Training Network (RTN) - , 1999-2003, EU Contract RTN1-1999-00245. Partners: 7 European research groups.

• Monitoring and multivariable control of industrial ovens, Industrial contract with RECOR, SA., 1999-2000. Partner: Control Systems and Technology Group (within the Institute for Systems and Robotics)

Selected Publications Georgieva, P. and S. Feyo de Azevedo, Neural

Networks-Based Control Strategies Applied to a Fed-Batch Crystallization Process, Int. Journal of Computational Intelligence, 3 (3), 224-233, 2006

Ferreira, A., N. Faria, F. Rocha, S. Feyo de Azevedo and A. Lopes, Using Image Analysis to look into the effect of impurity concentration in NaCl crystallization,Tran. IChemE, Part A, 83 (A4), 331-338, 2005

Oliveira, R., R. Simutis and S. Feyo de Azevedo, Design of a stable adaptive controller for driving aerobic fermentation processes near maximum oxygen transfer capacity, J. Process Control, 14 617-626, 2004

Feyo de Azevedo, S., P. Georgieva and M.J. Gonçalves, Knowledge-based Hybrid Modelling of a Batch Crystallisation when Accounting for Nucleation, Growth and Agglomeration Phenomena, Chem. Eng. Sci., 58 (16) 3699-3713, 2003

Faria, N., M.N. Pons, S. Feyo de Azevedo, F.A. Rocha and H. Vivier, Quantification of the Morphology of Sucrose Crystals by Image Analysis, Powder Technology J., 133, 54-67, 2003

Oliveira, R., E.C. Ferreira and S. Feyo de Azevedo, Stability, Dynamics of Convergence and Tuning

of Observer-based Kinetics Estimators, J. Process Control, 12, 311-323, 2002

Peres, J., R. Oliveira and S. Feyo de Azevedo, Knowledge Based Modular Networks for Process Modelling and Control, Computers Chem. Engng, 25, 783-791, 2001

Perrier, M., S. Feyo de Azevedo, E.C. Ferreira and D. Dochain, Tuning of Observer-based Estimators: theory and application to the on-line estimation of kinetic parameters, Control Engineering Practice, 8 (4), 377-388, 2000

Pons, M.N., E. Camarasa, H. Vivier, N. Faria, F. Rocha, S. Feyo de Azevedo, Shape Characterization of Sugar Crystals, Proc. of World Congress on Particle Technology, paper 33, p. 33.1-33.8, Brighton, UK, 6-9 July, 1998 (Procter and Gamble Award).

Feyo de Azevedo S., B. Dahm, F. Oliveira, Hybrid Modelling of Biochemical Processes: a comparison with the conventional approach, Computers Chem. Engng, 21 Suppl., S751-S756, 1997

Cardoso, M.F., Romualdo L. Salcedo, Sebastião Feyo de Azevedo, The Simplex-Simulated Annealing Approach to Continuous Non-linear Optimization., Computers Chem. Engng., 20 (9) 1065-1080, 1996.

Menezes, J.C., Sebastião S. Alves, João M. Lemos, Sebastião Feyo de Azevedo, Mathematical Modelling of Industrial Pilot-Plant Penicillin-G Fed-Batch Fermentations, J. Chem Tech. Biotechnology, 61 123-138, 1994.

Feyo de Azevedo, S., J. Chorão, M. J. Gonçalves, L. Bento, On-line Monitoring of White Sugar Crystallisation through Software Sensors, in Proc of the 52nd Annual Meeting of the Sugar Industry Technologists Inc., p.p. 217-251, June 13-16, 1993, Toronto, Canada (SIT Award).

Feyo de Azevedo, S., M.A. Romero-Ogawa e A.P. Wardle, Modelling of Tubular Fixed bed Catalytic Reactors - A Brief Review, Trans. Inst. Chem. Engs. - Chem. Engng. Res. Des. Dev., 68, 483-501, 1990.

Feyo de Azevedo, S., A.P. Wardle, Sensitivity Analysis Concerning the Design and Operation of a Tubular Fixed-bed Catalytic Reactor, Chem. Eng. Sci., 44, 2311-2322, 1989.

Feyo de Azevedo, S. and J.A. Howell, A Second Order Model for Polyethylene Pipeline Reactor, Trans. Inst. Chem. Engs - Chem. Engng Res & Design, 66 128-137, 1988

Documents

Instituto de Sistemas e Robótica - Porto - UPpaginas.fe.up.pt/~isrp/downloads/Synopsis_ISRP_Researchers_2006.pdf · The Scientific Council works in two sub-group corresponding to