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Dissertations / Theses on the topic 'Robust'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Nakashima, Paulo Hiroaqui Ruiz. "Controle H2, H∞ e H2/H∞ aplicados a um robô manipulador subatuado." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-08062017-122423/.

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Este trabalho apresenta os resultados da aplicação de três técnicas de controle utilizadas no projeto e implementação do controle de um manipulador subatuado planar de três juntas em série e de elos rígidos, projetado e construído pela Universidade Carnegie Mellon, EUA. Devido ao alto grau de não-linearidade deste sistema, seria muito difícil implementar um controlador H2, H&#8734 ou H2/H&#8734 que atuasse sozinho. Assim, propõe-se a utilização de um método de controle combinado: torque computado/H2, H&#8734 ou H2/H&#8734. No controle combinado, a porção correspondente ao torque computado line

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Deray, Jérémie. "Robust navigation for industrial service robots." Doctoral thesis, TDX (Tesis Doctorals en Xarxa), 2020. http://hdl.handle.net/10803/669875.

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Robust, reliable and safe navigation is one of the fundamental problems of robotics. Throughout the present thesis, we tackle the problem of navigation for robotic industrial mobile-bases. We identify its components and analyze their respective challenges in order to address them. The research work presented here ultimately aims at improving the overall quality of the navigation stack of a commercially available industrial mobile-base. To introduce and survey the overall problem we first break down the navigation framework into clearly identified smaller problems. We examine the Simultaneou

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3

Bekit, Biniam Weldai. "Robust nonlinear control of robot manipulators." Thesis, King's College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.321945.

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4

Löhning, Matthias [Verfasser]. "Robust Control of Elastic Robots / Matthias Löhning." München : Verlag Dr. Hut, 2011. http://d-nb.info/1015606512/34.

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5

Bando, Yoshiaki. "Robust Audio Scene Analysis for Rescue Robots." Kyoto University, 2018. http://hdl.handle.net/2433/232410.

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6

Kwok, Chung Tin. "Robust real-time perception for mobile robots /." Thesis, Connect to this title online; UW restricted, 2004. http://hdl.handle.net/1773/7017.

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7

Peel, Vincent Robert. "Robust methods for robust passive sonar." Thesis, University of Southampton, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305876.

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8

Nguyen, Quan T. "Robust and Adaptive Dynamic Walking of Bipedal Robots." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1102.

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Legged locomotion has several interesting challenges that need to be addressed, such as the ability of dynamically walk over rough terrain like stairs or stepping stones, as well as the ability to adapt to unexpected changes in the environment and the dynamic model of the robot. This thesis is driven towards solving these challenges and makes contributions on theoretical and experimental aspects to address: dynamic walking, model uncertainty, and rough terrain. On the theoretical front, we introduce and develop a unified robust and adaptive control framework that enables the ability to enforce

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9

Larsson, Martin. "Robusta Människor : En förutsättning för ett robust och uthålligt samhälle?" Thesis, Karlstads universitet, Fakulteten för samhälls- och livsvetenskaper, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-13852.

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Samhället och världen vi lever i är föränderlig, kanske mer än någonsin. Det finns en strävan efter tålighet och snabb återhämtning för att på ett så bra sätt som möjligt hantera händelser och förändringar som vi inte kunnat förutse. Robusta samhällen kan anses framstå som önskvärda i en föränderlig värld. Då samhällen består av människor kan det antas att robusta människor skapar goda förutsättningar för robusta samhällen. Syftet med denna studie är att få mer kännedom om hur en robust människa upplevs och om det finns likheter i beskrivningarna av ett robust samhälle och en robust människa.

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10

Sato, Miki. "Noise-Robust Auditory Systems for Human-Robot Communication." 京都大学 (Kyoto University), 2010. http://hdl.handle.net/2433/123355.

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11

Homberg, Bianca (Bianca S. ). "Robust proprioceptive grasping with a soft robot hand." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106123.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 85-88).<br>This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The hand c

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12

Yu, Hongnian. "Modelling and robust adaptive control of robot manipulators." Thesis, King's College London (University of London), 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.720361.

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13

Einicke, Garry A. "Robust filtering /." Title page, contents and introduction only, 1995. http://web4.library.adelaide.edu.au/theses/09PH/09phe35.pdf.

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14

Ferry, G. "Robust discrimination." Thesis, University of Newcastle Upon Tyne, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.239717.

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15

Sim, Melvyn 1971. "Robust optimization." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/17725.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2004.<br>Includes bibliographical references (p. 169-171).<br>We propose new methodologies in robust optimization that promise greater tractability, both theoretically and practically than the classical robust framework. We cover a broad range of mathematical optimization problems, including linear optimization (LP), quadratic constrained quadratic optimization (QCQP), general conic optimization including second order cone programming (SOCP) and semidefinite optimization (SDP), mixed

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16

Öhrström, Albin, and Jubran Muhsin Fadhil. "Robust sköljtank." Thesis, Malmö universitet, Fakulteten för teknik och samhälle (TS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-20078.

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Detta arbete behandlar framtagning av en robust sköljtank till en diskmaskin för grovdisk. Sköljtanken har en viktig roll i diskprocessen med ansvarar för att säkerställa att eventuella bakterier, diskmedel och matrester rensas i slutprocessen av diskningen. Därför ställs krav på produkten genom olika standarder för att vara godkänd för användning i diskmaskinen. Kraven berör främst vattentemperaturen samt dimensioner på ett bräddavlopp, som förhindrar att vatten från sköljtanken återströmmas till inloppsvattnet. Syftet med arbetet är att eliminera problem med överhettade värmeelment, opålitli

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17

Rix, Andrew Iain James. "Robust rotordynamics." Thesis, University of Nottingham, 2016. http://eprints.nottingham.ac.uk/38502/.

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Vibration generated from main rotor unbalance has a major impact on the aerospace gas turbine industry. A combination of logistical and technological drivers differentiate aerospace gas turbines and their derivatives from other types of gas turbines with respect to the approach for managing vibration, leading to a bespoke approach for the design, build, and balancing. The key drivers are: limited accessibility to rotors within the engine, the requirement for exchangeable modules (sub-assemblies) of major parts of the rotor without rebalancing, the use of only low-speed balancing on pseudo-rigi

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18

Ciuca, Frank. "Robust optimal motion-tracking control of flexible-joint robots." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/mq52530.pdf.

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19

Mulanda, Brian Wise. "Robust communication for location-aware mobile robots using motes." Thesis, Manhattan, Kan. : Kansas State University, 2008. http://hdl.handle.net/2097/956.

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20

Wang, Jiuguang. "Numerical Nonlinear Robust Control with Applications to Humanoid Robots." Research Showcase @ CMU, 2015. http://repository.cmu.edu/dissertations/630.

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Robots would be much more useful if they could be more robust. Systems that can tolerate variability and uncertainty are called robust and the design of robust feedback controllers is a difficult problem that has been extensively studied for the past several decades. In this thesis, we aim to provide a quantitative measure of performance and robustness in control design under an optimization framework, producing controllers robust against parametric system uncertainties, external disturbances, and unmodeled dynamics. Under the H1 framework, we formulate the nonlinear robust control problem as

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21

Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedi

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22

VAZHAPILLI, SURESHBABU ANAND. "Design and development of robust hands for humanoid robots." Doctoral thesis, Università degli studi di Genova, 2018. http://hdl.handle.net/11567/930270.

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23

Yang, Rui. "Modélisation et commande robuste appliquée à un robot sous-marin." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0011/document.

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L’utilisation des AUV pour une exploitation durable des ressources océaniques est pertinente. Un robot sous-marin peut être utilisé comme plateforme pour observer, recueillir des informations sur l’environnement marin. Afin d’améliorer la qualité des observations et d’augmenter la capacité de navigation, de nombreuses questions doivent être abordées et examinées simultanément. Nous abordons ici le problème du pilotage de ces robots autonomes.Atteindre la maniabilité nécessaire dépend de deux facteurs clés: un modèle hydrodynamique précis et un système de contrôle performant. Cependant, le coût

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24

Lin, Jong-Lick. "Control system design for robust stability and robust performance." Thesis, University of Leicester, 1992. http://hdl.handle.net/2381/34797.

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A central problem in control system design is how to design a controller to guarantee that the closed-loop system is robustly stable and that performance requirements are satisfied despite the presence of model uncertainties and exogenous disturbance signals. The analysis problem, that is the assessment of control systems with respect to robust stability and robust performance, can be adequately solved using the structured singular value u as introduced by Doyle. The corresponding design problem (how to choose a controller K to minimize u) is still largely unsolved, but an approximate solution

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25

Costa, da Silva Marco Aurelio. "Applications and algorithms for two-stage robust linear optimization." Thesis, Avignon, 2018. http://www.theses.fr/2018AVIG0229/document.

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Le domaine de recherche de cette thèse est l'optimisation linéaire robuste en deux étapes. Nous sommes intéressés par des algorithmes d'exploration de sa structure et aussi pour ajouter des alternatives afin d'atténuer le conservatisme inhérent à une solution robuste. Nous développons des algorithmes qui incorporent ces alternatives et sont personnalisés pour fonctionner avec des exemples de problèmes à moyenne ou grande échelle. En faisant cela, nous expérimentons une approche holistique du conservatisme en optimisation linéaire robuste et nous rassemblons les dernières avancées dans des doma

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26

Olufs, Sven [Verfasser]. "Robust Computer Vision for domestic robot applications / Sven Olufs." Berlin : Freie Universität Berlin, 2014. http://d-nb.info/1060717646/34.

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27

Sattar, Junaed. "Towards a robust framework for visual human-robot interaction." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106255.

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This thesis presents a vision-based interface for human-robot interaction and control for autonomous robots in arbitrary environments. Vision has the advantage of being a low-power, unobtrusive sensing modality. The advent of robust algorithms and a significant increase in computational power are the two most significant reasons for such widespread integration. The research presented in this dissertation looks at visual sensing as an intuitive and uncomplicated method for a human operator to communicate in close-range with a mobile robot. The array of communication paradigms we investigate inc

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28

Wang, Yue. "Développement d'un robot dirigeable pour opération intérieur." Thesis, Ecole centrale de Lille, 2019. http://www.theses.fr/2019ECLI0002/document.

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Récemment, le robot dirigeable a attiré l'attention de plus en plus des chercheurs grâce à ses avantages par rapport à d'autres aéronefs, tels que la capacité de VTOL, le vol stationnaire et à basse vitesse, une grande autonomie, et une interaction Homme-Robot sûre, etc. Ainsi c'est une plate-forme idéale pour diverses applications d'intérieur. Dans cette thèse, nous étudions la modélisation et le contrôle du mouvement d'un robot dirigeable d'intérieur et développons un prototype pour les opérations intérieures comme la surveillance. Le travail est composé de parties théoriques et pratiques. C

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29

Zhou, Jun. "Robust and fuzzy logic approaches to the control of uncertain systems with applications." Ohio : Ohio University, 1992. http://www.ohiolink.edu/etd/view.cgi?ohiou1173757489.

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30

Pfister, Thomas [Verfasser]. "Robust Localization for Mobile Robots in Forest Environments / Thomas Pfister." München : Verlag Dr. Hut, 2017. http://d-nb.info/1135596786/34.

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31

Agarwal, Pratik [Verfasser], and Wolfram [Akademischer Betreuer] Burgard. "Robust graph-based localization and mapping = Robuste Graph-basierte Lokalisierung und Kartierung." Freiburg : Universität, 2015. http://d-nb.info/111980549X/34.

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32

Gupta, Pramod. "Robust clustering algorithms." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39553.

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One of the most widely used techniques for data clustering is agglomerative clustering. Such algorithms have been long used across any different fields ranging from computational biology to social sciences to computer vision in part because they are simple and their output is easy to interpret. However, many of these algorithms lack any performance guarantees when the data is noisy, incomplete or has outliers, which is the case for most real world data. It is well known that standard linkage algorithms perform extremely poorly in presence of noise. In this work we propose two new robust algori

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Cetinyurek, Aysun. "Robust Control Charts." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/3/12607987/index.pdf.

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ABSTRACT ROBUST CONTROL CHARTS &Ccedil<br>etiny&uuml<br>rek, Aysun M. Sc., Department of Statistics Supervisor: Dr. BariS S&uuml<br>r&uuml<br>c&uuml<br>Co-Supervisor: Assoc. Prof. Dr. Birdal Senoglu December 2006, 82 pages Control charts are one of the most commonly used tools in statistical process control. A prominent feature of the statistical process control is the Shewhart control chart that depends on the assumption of normality. However, violations of underlying normality assumption are common in practice. For this reason, control charts for symmetric distributions for both long- and sh

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34

Fu, Ye. "Robust adaptive control." Thesis, University of British Columbia, 1989. http://hdl.handle.net/2429/30574.

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This thesis describes discrete robust adaptive control methods based on using slow sampling and slow adaptation. For the stability analysis, we consider that the plant model order is not exactly known and assume that the estimation model order is lower than the plant model order. A stability condition is derived with a given upper limit for the adaptation gain which is related to a strictly positive real operator. Discussion of the relation between sampling and stability condition is then given. For the robust adaptive control design, we study slow adaptation and predictive control. For the sl

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35

Schumann, David Heinz. "Robust Variable Selection." NCSU, 2009. http://www.lib.ncsu.edu/theses/available/etd-03262009-153524/.

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The prevalence of extreme outliers in many regression data sets has led to the development of robust methods that can handle these observations. While much attention has been placed on the problem of estimating regression coefficients in the presence of outliers, few methods address variable selection. We develop and study robust versions of the forward selection algorithm, one of the most popular standard variable selection techniques. Specifically we modify the VAMS procedure, a version of forward selection tuned to control the false selection rate, to simultaneously select variables and eli

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Olver, Neil. "Robust network design." Thesis, McGill University, 2010. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=95085.

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Robust network design takes the very successful framework of robust optimization and applies it to the area of network design, motivated by applications in communication networks. The main premise is that demands across the network are not fixed, but are variable or uncertain. However, they are known to fall within a prescribed uncertainty set. Our solution must have sufficient capacity to route any demand in this set; moreover, the routing must be oblivious, meaning it must be fixed up front, and not depend on the particular choice of demand from within the uncertainty set. A particular cho

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Foisy, André. "Robust collision detection." Thesis, McGill University, 1994. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=28746.

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The problem of locating collisions between computer modeled moving rigid bodies is considered. Each rigid body is modeled by the union of polytopes. Safe and reliable collision detection algorithms are constructed.<br>Since the computer representation of real numbers is finite, an interval projective point is used to encompass all localization errors of a modeled point. An interval point is the elementary geometrical form from which all others are constructed. The Euclidean convex set spanned by an interval point is also a polytope.<br>The construction of a polytope relies on a robust convex h

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Anderson, Ross John. "Robust computer security." Thesis, University of Cambridge, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.338198.

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39

Cheng, You-Chi. "Robust gesture recognition." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/53492.

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It is a challenging problem to make a general hand gesture recognition system work in a practical operation environment. In this study, it is mainly focused on recognizing English letters and digits performed near the steering wheel of a car and captured by a video camera. Like most human computer interaction (HCI) scenarios, the in-car gesture recognition suffers from various robustness issues, including multiple human factors and highly varying lighting conditions. It therefore brings up quite a few research issues to be addressed. First, multiple gesturing alternatives may share the same me

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Pearce, Kim Frances. "Robust logistic discrimination." Thesis, University of Newcastle Upon Tyne, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.294687.

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REYNA, FERNANDO ROLFI QUINECHE. "ROBUST OPTIMAL PORTFOLIO." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2001. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=1938@1.

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CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO<br>Os mercados de ações dos países emergentes tem como principal característica a presença de dias atípicos, os quais fazem impossível o uso, com sucesso, dos modelos de equilíbrio. O principal objetivo desta pesquisa é a de desenvolver uma nova teoria, baseada na estatísica robusta, que possa ser aplicada a estes mercados sem ser seriamente afetada por observações extremas, e que ao mesmo tempo, ofereça resultados eficientes e precisos.<br>Emergent stock markets are characterized by the presence of atypical days, which make

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Barr, Mohammad. "Robust logo watermarking." Thesis, De Montfort University, 2018. http://hdl.handle.net/2086/16550.

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Digital image watermarking is used to protect the copyright of digital images. In this thesis, a novel blind logo image watermarking technique for RGB images is proposed. The proposed technique exploits the error correction capabilities of the Human Visual System (HVS). It embeds two different watermarks in the wavelet/multiwavelet domains. The two watermarks are embedded in different sub-bands, are orthogonal, and serve different purposes. One is a high capacity multi-bit watermark used to embed the logo, and the other is a 1-bit watermark which is used for the detection and reversal of geome

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Zhou, Chong. "Robust Auto-encoders." Digital WPI, 2016. https://digitalcommons.wpi.edu/etd-theses/393.

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In this thesis, our aim is to improve deep auto-encoders, an important topic in the deep learning area, which has shown connections to latent feature discovery models in the literature. Our model is inspired by robust principal component analysis, and we build an outlier filter on the top of basic deep auto-encoders. By adding this filter, we can split the input data X into two parts X=L+S, where the L could be better reconstructed by a deep auto-encoder and the S contains the anomalous parts of the original data X. Filtering out the anomalies increases the robustness of the standard auto-enco

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Chua, Shui Ying. "Robust network design." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/99030.

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Thesis: M.B.A., Massachusetts Institute of Technology, Sloan School of Management, 2015. In conjunction with the Leaders for Global Operations Program at MIT.<br>Thesis: S.M., Massachusetts Institute of Technology, Department of Civil and Environmental Engineering, 2015. In conjunction with the Leaders for Global Operations Program at MIT.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 61-63).<br>As an equipment manufacturer for the mining and construction industries, Caterpillar's business is heavily impacted by the cyclicality of these two industries.

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Teo, Kwong Meng. "Nonconvex robust optimization." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40303.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2007.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Includes bibliographical references (p. 133-138).<br>We propose a novel robust optimization technique, which is applicable to nonconvex and simulation-based problems. Robust optimization finds decisions with the best worst-case performance under uncertainty. If constraints are present, decisions should also be feasible under pe

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Hsiao, Kaijen. "Relatively robust grasping." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/55115.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 135-138).<br>This thesis presents an approach for grasping objects robustly under significant positional uncertainty. In the field of robot manipulation there has been a great deal of work on how to grasp objects stably, and in the field of robot motion planning there has been a great deal of work on how to find collision-free paths to those grasp positions. However, most of this work assumes exac

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Pritchard, David (David Alexander Griffith). "Robust network computation." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/37069.

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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005.<br>Includes bibliographical references (p. 91-98).<br>In this thesis, we present various models of distributed computation and algorithms for these models. The underlying theme is to come up with fast algorithms that can tolerate faults in the underlying network. We begin with the classical message-passing model of computation, surveying many known results. We give a new, universally optimal, edge-biconnectivity algorithm for the classical model. We also give a near-optimal sub-

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Yu, Chun. "Robust mixture modeling." Diss., Kansas State University, 2014. http://hdl.handle.net/2097/18153.

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Doctor of Philosophy<br>Department of Statistics<br>Weixin Yao and Kun Chen<br>Ordinary least-squares (OLS) estimators for a linear model are very sensitive to unusual values in the design space or outliers among y values. Even one single atypical value may have a large effect on the parameter estimates. In this proposal, we first review and describe some available and popular robust techniques, including some recent developed ones, and compare them in terms of breakdown point and efficiency. In addition, we also use a simulation study and a real data application to compare the performance o

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Bai, Xue. "Robust linear regression." Kansas State University, 2012. http://hdl.handle.net/2097/14977.

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Master of Science<br>Department of Statistics<br>Weixin Yao<br>In practice, when applying a statistical method it often occurs that some observations deviate from the usual model assumptions. Least-squares (LS) estimators are very sensitive to outliers. Even one single atypical value may have a large effect on the regression parameter estimates. The goal of robust regression is to develop methods that are resistant to the possibility that one or several unknown outliers may occur anywhere in the data. In this paper, we review various robust regression methods including: M-estimate, LMS estimat

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Cardoso, João Nuno Martins. "Robust mean variance." Master's thesis, Instituto Superior de Economia e Gestão, 2015. http://hdl.handle.net/10400.5/10706.

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Abstract:

Mestrado em Finanças<br>Este estudo empírico tem como objectivo avaliar o impacto da estimação robusta nos portefólios de média variância. Isto foi conseguido fazendo uma simulação do comportamento de 15 acções do SP500. Esta simulação inclui dois cenários: um com amostras que seguem uma distribuição normal e outro com amostras contaminadas não normais. Cada cenário inclui 200 reamostragens. O performance dos portefólios estimados usando a máxima verosimilhança (clássicos) e dos portefólios estimados de forma robusta são comparados, resultando em algumas conclusões: Em amostras normais, portef

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