EsACT - Publicações em Proceedings Indexadas à WoS/Scopus
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- An Approach to Environmental Cleanup Through Conceptual Autonomous TechnologyPublication . Balsa, Carlos; Victoria Otero-Espinar; Sílvio GamaThis work presents a mathematical toy model for a process of garbage collection encompassing the coordination of a vast array of autonomous devices, where each device needs only a few trajectory adjustments. This simplified conceptual model serves as a valuable tool for both educational and initial research purposes. In this model, each autonomous device is represented by a passive particle, while the environmental currents are depicted by the dynamic behavior of point vortices on a spherical surface. In order to maintain device autonomy, a system of piecewise constant controls is utilized, which involves a limited set of predetermined switching points to adjust the trajectory. Each control incurs an energy expense, and the model aims to minimize this cost by solving a nonlinear optimization problem. The preliminary findings suggest the presence of multiple potential trajectories for autonomous devices, each associated with different energy costs.
- Particle Movement on a Rotating SpherePublication . Balsa, Carlos; Otero-Espinar, M. Victoria; Gama, SílvioVortex point models are a powerful tool for addressing fundamental dynamics questions related to atmospheric and oceanic flows. This study focuses on the dynamics of a passive particle in a flow induced by two vortex points on the surface of a rotating sphere. The optimal control problem is converted into a nonlinear optimization problem and is solved numerically using a direct approach. The proposed method calculates a quasi-optimal solution, which minimizes the energy generated during the displacement. In general, this energy decreases with the increase in the number of controls. The quasi-optimal solution also depends on the rotation speed of the sphere. If the rotation speed is very high, the particle rotates several times around the sphere before reaching the destination point.