Innovation at Instituto Superior Técnico of the Universidade de Lisboa

Creation
and renovation of Laboratorial Infrastructures

[LI03] Coordination of the project Renovation
of the Computer Resources of ACCAII, July 2015, for an internal call by
DEM with a total funding of 30.000 Euros. This initiative endowed the
Scientific Area of new resources for all its academic courses.

[LI02] Creation
of the project Mechatronics Laboratory - MECA-Lab- of the Scientific Area of
Automation, Control, and Industrial Informatics of the Department of Mechanical
Engineering of IST, in 2014. This initiative resulted from an internal DEM
project, lead by the candidate, approved in 2013 with a total funding of 21.000
Euros. This laboratory facility supports the courses of Mechatronic Systems,
Optimal Control, Integrated Production Control, and master theses.

[LI01] Creation
of the Automation Laboratory at the Scientific Area of Systems,
Decision, and Control of the Department of Electrical and Computer Engineering. This initiative
resulted from an internal IST project, in 2001. Several generations of
Schneider PLCs were purchased and an internal network based on MODBUS was setup
and made available to 50 students (on average) per semester until 2010/2011.

Creation
and Restructuration of Courses

[CC12] Restructuration of the course Control of Nonlinear Systems
of the PhD Program in in Electrical and Computer Engineering, in the
academic year of 2020/2021, with the following syllabus: 1. Introduction
to Nonlinear Systems; 2. Mathematical background; Most relevant
properties; 3. Lyapunov stability for autonomous systems; 4. Advanced
stability analysis; 5. Nonlinear control systems synthesis; 6.
Motivation for nonlinear Detection, Estimation and Filtering; 7.
Stochastic filtering – Kalman and extended Kalman filters. 8. New
methods of estimation; 9. Analysis of cascaded and feedback nonlinear
systems; 10. Examples of application, e.g. SLAM, Attitude estimation and
control; Formations; Consensus; Extended linearization.

[CC11]
Course proposal on Guidance, Navigation and Control (8th semester, designed for 30 students), for the
branch of Space in the future Master Degree in Aerospace Engineering, under the
PERCIST restructuration of the degrees at IST. Syllabus: 1. Introduction to
GNC; 2. Introduction to Project and selection of systems; 3. Sensor and Actuators in space environment;
4. State estimation and navigation; 5.
Modern control project; 6. Introduction to nonlinear control; 7.
Guidance; 8. Integrated design of GNC
systems. Creation of a set of Laboratory Assignements for the students’ evaluation.
To be validated and tested both in simulation and resorting to hardware-in-the-loop.

[CC10]
Creation of the course Control of Nonlinear Systems of the
PhD Program in Mechanical Engineering, in the academic year of 2016/2017, with
the following syllabus: 1. Introduction to Nonlinear Systems; 2. Mathematical
background; Most relevant properties; 3. Lyapunov stability for autonomous
systems; 4. Advanced stability analysis; 5. Nonlinear control systems
synthesis; 6. Motivation for nonlinear Detection, Estimation and Filtering; 7.
Stochastic filtering – Kalman and extended Kalman filters. 8. New methods of
estimation; 9. Analysis of cascaded and feedback nonlinear systems; 10.
Examples of application, e.g. SLAM, Attitude estimation and control;
Formations; Consensus; Extended linearization.

[CC09]
Course of Advanced Mobile Robotics in the final phase of the MEMec and MEAer
degrees, under the PERCIST degrees restructuration. This course, proposed by
the candidate in his habilitation degree, aims at introducing recent advances
in navigation systems, sensor fusion techniques, state of the art positioning
and control systems, to tackle actual challenges on the robotics area, with the
following syllabus: 1. Motivation for Advanced Mobile Robotics; 2. Robotic
Systems in 2D and 3D; 3. Motion Sensors; 4. Positioning Systems; 5. Linear and
Nonlinear Navigation Systems; 6. Guidance and Control Systems; 7. Trajectory
Generation; 8. Other Challenges and Applications.

[CC08]
Creation of the course Advanced Topics on Control – Detection,
Estimation, and Filtering of the PhD Program in Mechanical Engineering,
in the academic year of 2016/2017, with the following syllabus: 1. Introduction
to Nonlinear Systems; 2. Mathematical background; Most relevant properties; 3.
Lyapunov stability for autonomous systems; 4. Advanced stability analysis; 5.
Nonlinear control systems synthesis; 6. Motivation for nonlinear Detection,
Estimation and Filtering; 7. Stochastic filtering – Kalman and extended Kalman
filters. 8. New methods of estimation; 9. Analysis of cascaded and feedback
nonlinear systems; 10. Examples of application, e.g. SLAM, Attitude estimation
and control; Formations; Consensus; Extended linearization.

[CC07]
Creation of the course Unmanned Aerial Vehicles(8th semester, designed for
40 students), taught for the first time at the spring semester of 2017/2018. Lead
by the candidate jointly with members of the scientific areas of ACCAII/DEM and
SDC/DEEC, with the following syllabus: 1. Introduction to Unmanned Aircraft
Systems (UAS); 2. Introduction to Design and Selection of the System; 3. Modern Control Design (Revisiting
concepts); 4. Autopilot Design; 5. Sensors
for UAVs; 6. State Estimation; 7. Introduction to Nonlinear Control; 8.
Guidance; 9. Nonlinear Navigation and
Control Systems; 10. Path Planning; and 11. Applications and Future of UAS.
Creation of a set of Laboratory Assignements for the evaluation of skills of
the students resorting to real time, identification, modeling, navigation, and
control of quadcopter unmanned aerial vehicles. All solutions validated and
tested both in simulation and resorting to the ARENA of ACCAII/DEM.

[CC06]
Under the novel paradigm of Cyber-Physical Systems, covering the phases of
design, analysis, and implementation of hybrid systems in embedded systems, the
following restructuration of the course Mechatronic Systems of the MEMec
degree, in the academic year of 2016/2017 is proposed. Topics covered: 1. Introduction to Cyber-physical
systems; 2. Modeling Continuous Dynamic Systems; 3. Modeling Discrete Event
Systems; 4. Hybrid Systems; 5. Advanced Models of Computation; 6. Design of
Embedded Systems; 7. Introduction to Embedded Platforms; and 8. Mechatronics
Projects Implemented in Embedded Platforms. Planned a seminar for the
presentation of the topics chosen by the students, by the end of the semester.

[CC05]
Restructuration of the course Advanced Topics on Control – Detection,
Estimation, and Filtering of the PhD Program in Mechanical Engineering,
in the academic year of 2012/2013. Topics covered: 1. Motivation for Estimation in Stochastic
Signal Processing; 2. Minimum
Variance Unbiased Estimation; 3. Cramer-Rao Lower Bound; 4. Linear Models in the Presence of Stochastic;
5. Best Linear Unbiased Filters; 6. Maximum Likelihood Estimation; 7. Least
Squares; 8. Bayesian Filtering; 9. Wiener Filtering; 10. Kalman Filtering; 11.
Multiple Model Adaptive Estimation; 12. Optimal Smoothing; and 13. Advanced
Topics. Production of a collection of more then 300 slides (Slides) for the recitation classes and organization of a seminar for the
presentation of the topics chosen by the students (topics
from students).

[CC04]
Restructuration of the course Dynamic Stochastic Estimation, Filtering,
Prediction and Smoothingof the PhD Program in Electrical and Computer
Engineering, in the academic year of 2008/2009. Topics covered: 1. Introduction
to optimal estimation; 2. Review of probabilistic concepts; 3. Random processes
and linear systems; 4. Response of linear systems to white noise inputs:
discrete-time and continuous-time cases; 5. Approximation of continuous-time
linear stochastic systems by discrete-time equivalents; 6. The Bayesian
approach to parameter estimation; 7. The discrete-time Kalman filter. 8. The
continuous-time Kalman-Bucy filter; 9. Derivation of the Kalman-Bucy filter
using parameter optimization; 10. Kalman filter for continuous-time dynamics
and discrete-time measurements; 11. The steady-state Kalman-Bucy filter:
continuous-time case and discrete-time cases; 12. Correlated and colored plant
and measurement noise; 13. Suboptimal nonlinear filtering algorithms:
discrete-time; 13. The extended Kalman filter (EKF): continuous-time case; 14.
Multiple model adaptive estimation (MMAE); 15. Optimal linear smoothing
algorithms for discrete-time systems; 16. H∞ filtering and smoothing; 17. New
methods for estimation: observers for special classes of systems; and 18.
Nonlinear Observers with linearizable errors dynamics; Production of a collection of
more then 100 slides (slides) to
complement the original course and organization of a seminar for the
presentation of the topics chosen by the students (topics
from students).

[CC03]
Creation of the course Detection, Estimation, and Filtering
of the joint Portugal - Carnegie Mellon University PhD Program in Electrical
and Computer Engineering, in the academic year of 2008/2009. Topics covered: 1.
Motivation for Estimation in
Stochastic Signal Processing; 2. Minimum Variance Unbiased Estimation; 3. Cramer-Rao Lower Bound; 4. Linear Models in
the Presence of Stochastic; 5. Best Linear Unbiased; 6. Maximum Likelihood
Estimation; 7. Least Squares; 8. Bayesian Filtering; and 9. Advanced Topics. Production
of a collection of more then 300 slides (Slides) for the recitation classes and organization of a seminar for the
presentation of the topics chosen by the students (topics
from students).

[CC02]
Creation and restructuration (for Bologna cycles of studies) of the course Automation
of Industrial Process of the Master in Electrical and Computer
Engineering, in the academic year of 2016/2017. Topics covered: 1.
Introduction to Automation; 2. Introduction to PLCs; 3. PLCs Programming
Languages; 4. GRAFCET; 5. CAD/CAM and
CNC Machines; 6. Discrete Event Systems; 7. Analysis of DESs; 8. DESs
and
Industrial Automation; and 9. Supervision of Industrial Processes.
Production of a collection of slides in Portuguese and English (Slides) for the recitation classes and organization of a series of seminars for
the presentation of the topics chosen by the students (topics
from students).

[CC01]
Creation of the course Industrial Automation based on PLCs
of the Licenciatura in Electrical and Computer Engineering, in the academic
year of 2001/2002 (in Portuguese). Topics covered: 1. Introdução à Automação; 2. Introdução aos PLCs; 3. Linguagens de
Programação de PLCs ; 4. GRAFCET; 5. Sistemas de Eventos Discretos; 6. Análise
de Sistemas de Eventos Discretos; and 7. SEDs e Automação Industrial. Production
of a collection of slides in Portuguese (Slides) for the recitation classes and organization of a series of seminars for
the presentation of the topics chosen by the students.