Development of a single photon counting computed tomography system using MPGDs

The development of computed tomography systems with energy resolving detectors is a current challenge in medical physics and biomedical engineering. A computed tomography system of this kind allows getting complementary informations relatively to conventional systems, that can help the medical diagnosis, being of great interest in medicine. The work described in this thesis is related to the development of a computed tomography system using micropattern gaseous detectors, which allow storing, simultaneously, information about the interaction position and the energy of each single photon that interacts with the detector. This kind of detectors has other advantages concerning the cost and characteristics of operation when compared with solid state detectors. Tomographic acquisitions were performed using a MicroHole & Strip Plate based detector, which allowed reconstructing cross-sectional images using energy windows, applying the energy weighting technique and performing multi-slice and tri-dimensional reconstructions. The contrast-to-noise ratio was improved by 31% by applying the energy weighting technique, comparing with the corresponding image obtained with the current medical systems. A prototype of a computed tomography with flexibility to change the detector was developed, making it possible to apply different detectors based on Thick-COBRA. Several images acquired with these detectors are presented and demonstrate their applicability in X-ray imaging. When operating in NeCH4, the detector allowed a charge gain of 8 104, an energy resolution of 20% (full width at half maximum at 8 keV), a count rate of 1 106 Hz/mm2, a very stable operation (gain fluctuations below 5%) and a spacial resolution of 1.2 mm for an energy photon of 3.6 keV. Operating the detector in pure Kr allowed increasing the detection efficiency and achieving a charge gain of 2 104, an energy resolution of 32% (full width at half maximum at 22 keV), a count rate of 1 105 Hz/mm2, very stable operation and a spatial resolution of 500 m. The software already existing in the group was improved and tools to correct geometric misalignments of the system were also developed. The reconstructions obtained after geometrical correction are free of artefacts due to the referred misalignments.

Perception and software architecture for mobile robotics

When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real robots. With the main objective of developing algorithms for sensor and information fusion that could be used e ectively on these teams, several state of the art approaches were studied, implemented and adapted to each of the robot types. Within the MSL RoboCup team CAMBADA, the main focus was the perception of ball and obstacles, with the creation of models capable of providing extended information so that the reasoning of the robot can be ever more e ective. To achieve it, several methodologies were analyzed, implemented, compared and improved. Concerning the ball, an analysis of ltering methodologies for stabilization of its position and estimation of its velocity was performed. Also, with the goal keeper in mind, work has been done to provide it with information of aerial balls. As for obstacles, a new de nition of the way they are perceived by the vision and the type of information provided was created, as well as a methodology for identifying which of the obstacles are team mates. Also, a tracking algorithm was developed, which ultimately assigned each of the obstacles a unique identi er. Associated with the improvement of the obstacles perception, a new algorithm of estimating reactive obstacle avoidance was created. In the context of the SPL RoboCup team Portuguese Team, besides the inevitable adaptation of many of the algorithms already developed for sensor and information fusion and considering that it was recently created, the objective was to create a sustainable software architecture that could be the base for future modular development. The software architecture created is based on a series of di erent processes and the means of communication among them. All processes were created or adapted for the new architecture and a base set of roles and behaviors was de ned during this work to achieve a base functional framework. In terms of perception, the main focus was to de ne a projection model and camera pose extraction that could provide information in metric coordinates. The second main objective was to adapt the CAMBADA localization algorithm to work on the NAO robots, considering all the limitations it presents when comparing to the MSL team, especially in terms of computational resources. A set of support tools were developed or improved in order to support the test and development in both teams. In general, the work developed during this thesis improved the performance of the teams during play and also the e ectiveness of the developers team when in development and test phases.

In search of reliable centimeter-level indoor positioning: a smartphone-based approach

This thesis describes the design and implementation of a reliable centimeter-level indoor positioning system fully compatible with a conventional smartphone. The proposed system takes advantage of the smartphone audio I/O and processing capabilities to perform acoustic ranging in the audio band using non-invasive audio signals and it has been developed having in mind applications that require high accuracy, such as augmented reality, virtual reality, gaming and audio guides. The system works in a distributed operation mode, i.e. each smartphone is able to obtain its own position using only acoustic signals. To support the positioning system, a Wireless Sensor Network (WSN) of synchronized acoustic beacons is used. To keep the infrastructure in sync we have developed an Automatic Time Synchronization and Syntonization (ATSS) protocol with a standard deviation of the sync offset error below 1.25 μs. Using an improved Time Difference of Arrival (TDoA) estimation approach (which takes advantage of the beacon signals’ periodicity) and by performing Non-Line-of-Sight (NLoS) mitigation, we were able to obtain very stable and accurate position estimates with an absolute mean error of less than 10 cm in 95% of the cases and a mean standard deviation of 2.2 cm for a position refresh period of 350 ms.

Electromechanical properties of engineered lead free potassium sodium niobate based materials

K0.5Na0.5NbO3 (KNN), is the most promising lead free material for substituting lead zirconate titanate (PZT) which is still the market leader used for sensors and actuators. To make KNN a real competitor, it is necessary to understand and to improve its properties. This goal is pursued in the present work via different approaches aiming to study KNN intrinsic properties and then to identify appropriate strategies like doping and texturing for designing better KNN materials for an intended application. Hence, polycrystalline KNN ceramics (undoped, non-stoichiometric; NST and doped), high-quality KNN single crystals and textured KNN based ceramics were successfully synthesized and characterized in this work. Polycrystalline undoped, non-stoichiometric (NST) and Mn doped KNN ceramics were prepared by conventional ceramic processing. Structure, microstructure and electrical properties were measured. It was observed that the window for mono-phasic compositions was very narrow for both NST ceramics and Mn doped ceramics. For NST ceramics the variation of A/B ratio influenced the polarization (P-E) hysteresis loop and better piezoelectric and dielectric responses could be found for small stoichiometry deviations (A/B = 0.97). Regarding Mn doping, as compared to undoped KNN which showed leaky polarization (P-E) hysteresis loops, B-site Mn doped ceramics showed a well saturated, less-leaky hysteresis loop and a significant properties improvement. Impedance spectroscopy was used to assess the role of Mn and a relation between charge transport – defects and ferroelectric response in K0.5Na0.5NbO3 (KNN) and Mn doped KNN ceramics could be established. At room temperature the conduction in KNN which is associated with holes transport is suppressed by Mn doping. Hence Mn addition increases the resistivity of the ceramic, which proved to be very helpful for improving the saturation of the P-E loop. At high temperatures the conduction is dominated by the motion of ionized oxygen vacancies whose concentration increases with Mn doping. Single crystals of potassium sodium niobate (KNN) were grown by a modified high temperature flux method. A boron-modified flux was used to obtain the crystals at a relatively low temperature. XRD, EDS and ICP analysis proved the chemical and crystallographic quality of the crystals. The grown KNN crystals exhibit higher dielectric permittivity (29,100) at the tetragonal-to-cubic phase transition temperature, higher remnant polarization (19.4 μC/cm2) and piezoelectric coefficient (160 pC/N) when compared with the standard KNN ceramics. KNN single crystals domain structure was characterized for the first time by piezoforce response microscopy. It could be observed that <001> - oriented potassium sodium niobate (KNN) single crystals reveal a long range ordered domain pattern of parallel 180° domains with zig-zag 90° domains. From the comparison of KNN Single crystals to ceramics, It is argued that the presence in KNN single crystal (and absence in KNN ceramics) of such a long range order specific domain pattern that is its fingerprint accounts for the improved properties of single crystals. These results have broad implications for the expanded use of KNN materials, by establishing a relation between the domain patterns and the dielectric and ferroelectric response of single crystals and ceramics and by indicating ways of achieving maximised properties in KNN materials. Polarized Raman analysis of ferroelectric potassium sodium niobate (K0.5Na0.5)NbO3 (KNN) single crystals was performed. For the first time, an evidence is provided that supports the assignment of KNN single crystals structure to the monoclinic symmetry at room temperature. Intensities of A′, A″ and mixed A′+A″ phonons have been theoretically calculated and compared with the experimental data in dependence of crystal rotation, which allowed the precise determination of the Raman tensor coefficients for (non-leaking) modes in monoclinic KNN. In relation to the previous literature, this study clarifies that assigning monoclinic phase is more suitable than the orthorhombic one. In addition, this study is the basis for non-destructive assessments of domain distribution by Raman spectroscopy in KNN-based lead-free ferroelectrics with complex structures. Searching a deeper understanding of the electrical behaviour of both KNN single crystal and polycrystalline materials for the sake of designing optimized KNN materials, a comparative study at the level of charge transport and point defects was carried out by impedance spectroscopy. KNN single crystals showed lower conductivity than polycrystals from room temperature up to 200 ºC, but above this temperature polycrystalline KNN displays lower conductivity. The low temperature (T < 200 ºC) behaviour reflects the different processing conditions of both ceramics and single crystals, which account for less defects prone to charge transport in the case of single crystals. As temperature increases (T > 200 ºC) single crystals become more conductive than polycrystalline samples, in which grain boundaries act as barriers to charge transport. For even higher temperatures the conductivity difference between both is increased due to the contribution of ionic conduction in single crystals. Indeed the values of activation energy calculated to the high temperature range (T > 300 ºC) were 1.60 and 0.97 eV, confirming the charge transport due to ionic conduction and ionized oxygen vacancies in single crystals and polycrystalline KNN, respectively. It is suggested that single crystals with low defects content and improved electromechanical properties could be a better choice for room temperature applications, though at high temperatures less conductive ceramics may be the choice, depending on the targeted use. Aiming at engineering the properties of KNN polycrystals towards the performance of single crystals, the preparation and properties study of (001) – oriented (K0.5Na0.5)0.98Li0.02NbO3 (KNNL) ceramics obtained by templated grain growth (TGG) using KNN single crystals as templates was undertaken. The choice of KNN single crystals templates is related with their better properties and to their unique domain structure which were envisaged as a tool for templating better properties in KNN ceramics too. X-ray diffraction analysis revealed for the templated ceramics a monoclinic structure at room temperature and a Lotgering factor (f) of 40% which confirmed texture development. These textured ceramics exhibit a long range ordered domain pattern consisting of 90º and 180º domains, similar to the one observed in the single crystals. Enhanced dielectric (13017 at TC), ferroelectric (2Pr = 42.8 μC/cm2) and piezoelectric (d33 = 280 pC/N) properties are observed for textured KNNL ceramics as compared to the randomly oriented ones. This behaviour is suggested to be due to the long range ordered domain patterns observed in the textured ceramics. The obtained results as compared with the data previously reported on texture KNN based ceramics confirm that superior properties were found due to ordered repeated domain pattern. This study provides an useful approach towards properties improvement of KNN-based piezoelectric ceramics. Overall, the present results bring a significant contribution to the pool of knowledge on the properties of sodium potassium niobate materials: a relation between the domain patterns and di-, ferro-, and piezo-electric response of single crystals and ceramics was demonstrated and ways of engineering maximised properties in KNN materials, for example by texturing were established. This contribution is envisaged to have broad implications for the expanded use of KNN over the alternative lead-based materials.

Transformações organocatalíticas e mediadas por metais de transição na síntese de novos heterociclos nitrogenados e ciclo-hexanos

Nas últimas décadas a quiralidade tornou-se essencial na conceção, descoberta, desenvolvimento e comercialização de novos medicamentos. A importância da quiralidade na eficácia e segurança dos fármacos tem sido globalmente reconhecida tanto pelas indústrias farmacêuticas como pelas agências reguladoras de todo o mundo. De forma a produzir eficazmente medicamentos seguros e dar resposta à demanda da indústria de compostos enantiomericamente puros, a pesquisa de novos métodos de síntese assimétrica, assim como o desenvolvimento estratégico dos métodos já disponíveis tem sido um dos principais objetos de estudo de diversos grupos de investigação tanto na academia como na indústria farmacêutica No primeiro capítulo desta dissertação são introduzidos alguns dos conceitos fundamentais associados à síntese de moléculas quirais e descritas algumas das estratégias que podem ser utilizadas na sua síntese. Apresenta-se ainda uma breve revisão bibliográfica acerca dos antecedentes do grupo de investigação e sobre a ocorrência natural, atividade biológica e métodos de síntese e transformações de compostos do tipo (E,E)-cinamilidenoacetofenona. O segundo capítulo centra-se na adição de Michael enantiosseletiva de diversos nucleófilos a derivados de (E,E)-cinamilidenoacetofenona. Inicialmente descreve-se a síntese de derivados de (E,E)-cinamilidenoacetofenona através de uma condensação aldólica de acetofenonas e cinamaldeídos apropriadamente substituídos. Estes derivados são posteriormente utilizados como substratos na adição de Michael enantiosseletiva de três diferentes nucleófilos: nitrometano, malononitrilo e 2-[(difenilmetileno)amino]acetato de metilo. Nestas reações são utilizados diferentes organocatalisadores de forma a induzir enantiosseletividade nos aductos de Michael para serem utilizados na síntese de compostos com potencial interesse terapêutico. É descrita ainda uma nova metodologia de síntese de Δ1-pirrolinas através de um procedimento one-pot de redução/ciclização/desidratação mediada por ferro na presença de ácido acético de (R,E)-1,5-diaril-3-(nitrometil)pent-4-en-1-onas com bons rendimentos e excelentes excessos enantioméricos. O terceiro capítulo centra-se no estabelecimento de novas rotas de síntese e transformação de derivados do ciclo-hexano. Após uma breve revisão bibliográfica, são descritas três metodologias enantiosseletivas distintas, sendo que a primeira envolve a utilização de organocatalisadores e catalisadores de transferência de fase derivados de alcaloides cinchona. Os derivados do ciclo-hexano foram obtidos a partir da reação entre as (E,E)-cinamilidenoacetofenonas e o malononitrilo com bons rendimentos, mas baixas enantiosseletividades independentemente do catalisador utilizado. De forma a contornar este problema e uma vez que a formação do derivado do ciclo-hexano envolve inicialmente a formação in-situ do aducto de Michael, a segunda e terceira metodologias de síntese envolvem a utilização dos aductos de Michael enantiomericamente puros preparados no segundo capítulo. Assim, a reação do (S,E)-2-(1,5-diaril-1-oxopent-4-en-3-il)malononitrilo com os derivados de (E,E)-cinamilidenoacetofenona organocatalisada pela hidroquinina permitiu obter os compostos pretendidos com excelentes excessos enantioméricos. A utilização de um catalisador de transferência de fase não foi tão eficiente em termos de enantiosseletividades obtidas na reação entre as (R,E)-1,5-diaril-3-(nitrometil)pent-4-en-1-onas e os derivados de (E,E)-cinamilidenoacetofenona, apesar de estes terem sido obtidos em bons rendimentos. A preparação destes derivados levou ainda à idealização de uma nova metodologia de síntese de análogos do ácido γ-aminobutírico (GABA) devido à presença de um grupo nitro em posição gama relativamente a um grupo carboxílico. No entanto, apesar de terem sido testadas várias metodologias, não foi possível obter os compostos pretendidos. No quarto capítulo apresenta-se uma breve revisão bibliográfica acerca da ocorrência natural, atividade biológica e métodos de síntese de derivados de di-hidro- e tetra-hidropiridinas, assim como um enquadramento teórico acerca das reações pericíclicas utilizadas na síntese dos compostos pretendidos. Inicialmente é descrita a preparação de N-sulfonilazatrienos substituídos através da condensação direta de derivados de (E,E)-cinamilidenoacetofenona e sulfonamidas. Estes compostos são posteriormente utilizados na síntese de derivados de 1,2-di-hidropiridinas através de uma aza-eletrociclização-6π por duas metodologias distintas: utilização de organocatalisadores quirais e utilização de complexos metálicos de bisoxazolinas. Na síntese das tetra-hidropiridinas os N-sulfonilazatrienos são utilizados como dienos e o étoxi-eteno como dienófilo numa reação hetero-Diels-Alder inversa utilizando também os complexos metálicos de bisoxazolinas como catalisadores. Todos os novos compostos sintetizados foram caracterizados estruturalmente recorrendo a estudos de espetroscopia de ressonância magnética nuclear (RMN), incluindo espetros de 1H e 13C e estudos bidimensionais de correlação espetroscópica homonuclear e heteronuclear e de efeito nuclear de Overhauser (NOESY). Foram também efetuados, sempre que possível, espetros de massa (EM) e análises elementares ou espetros de massa de alta resolução (EMAR) para todos os novos compostos sintetizados.

Structural analysis of glycans and development of microarrays from Helcobacter pylori cell surface glycome

Helicobacter pylori is a bacterial pathogen that affects more than half of the world’s population with gastro-intestinal diseases and is associated with gastric cancer. The cell surface of H. pylori is decorated with lipopolysaccharides (LPSs) composed of three distinct regions: a variable polysaccharide moiety (O-chain), a structurally conserved core oligosaccharide, and a lipid A region that anchors the LPS to the cell membrane. The O-chain of H. pylori LPS, exhibits unique oligosaccharide structures, such as Lewis (Le) antigens, similar to those present in the gastric mucosa and are involved in interactions with the host. Glucan, heptoglycan, and riban domains are present in the outer core region of some H. pylori LPSs. Amylose-like glycans and mannans are also constituents of some H. pylori strains, possibly co-expressed with LPSs. The complexity of H. pylori LPSs has hampered the establishment of accurate structure-function relationships in interactions with the host, and the design of carbohydrate-based therapeutics, such as vaccines. Carbohydrate microarrays are recent powerful and sensitive tools for studying carbohydrate antigens and, since their emergence, are providing insights into the function of carbohydrates and their involvement in pathogen-host interactions. The major goals of this thesis were the structural analysis of LPSs from H. pylori strains isolated from gastric biopsies of symptomatic Portuguese patients and the construction of a novel pathogen carbohydrate microarray of these LPSs (H. pylori LPS microarray) for interaction studies with proteins. LPSs were extracted from the cell surface of five H. pylori clinical isolates and one NCTC strain (26695) by phenol/water method, fractionated by size exclusion chromatography and analysed by gas chromatography coupled to mass spectrometry. The oligosaccharides released after mild acid treatment of the LPS were analysed by electrospray mass spectrometry. In addition to the conserved core oligosaccharide moieties, structural analyses revealed the presence of type-2 Lex and Ley antigens and N-acetyllactosamine (LacNAc) sequences, typically found in H. pylori strains. Also, the presence of O-6 linked glucose residues, particularly in LPSs from strains 2191 and NCTC 26695, pointed out to the expression of a 6-glucan. Other structural domains, namely ribans, composed of O-2 linked ribofuranose residues were observed in the LPS of most of H. pylori clinical isolates. For the LPS from strain 14382, large amounts of O-3 linked galactose units, pointing to the occurrence of a galactan, a domain recently identified in the LPS of another H. pylori strain. A particular feature to the LPSs from strains 2191 and CI-117 was the detection of large amounts of O-4 linked N-acetylglucosamine (GlcNAc) residues, suggesting the presence of chitin-like glycans, which to our knowledge have not been described for H. pylori strains. For the construction of the H. pylori LPS microarray, the structurally analysed LPSs, as well as LPS-derived oligosaccharide fractions, prepared as neoglycolipid (NGL) probes were noncovalently immobilized onto nitrocellulosecoated glass slides. These were printed together with NGLs of selected sequence defined oligosaccharides, bacterial LPSs and polysaccharides. The H. pylori LPS microarray was probed for recognition with carbohydratebinding proteins (CBPs) of known specificity. These included Le and blood group-related monoclonal antibodies (mAbs), plant lectins, a carbohydratebinding module (CBM) and the mammalian immune receptors DC-SIGN and Dectin-1. The analysis of these CBPs provided new information that complemented the structural analyses and was valuable in the quality control of the constructed microarray. Microarray analysis revealed the occurrence of type-2 Lex and Ley, but not type-1 Lea or Leb antigens, supporting the results obtained in the structural analysis. Furthermore, the H. pylori LPSs were recognised by DC-SIGN, a mammalian lectin known to interact with this bacterium through fucosylated Le epitopes expressed in its LPSs. The -fucose-specific lectin UEA-I, showed restricted binding to probes containing type-2 blood group H sequence and to the LPSs from strains CI-117 and 14382. The presence of H-type-2, as well Htype- 1 in the LPSs from these strains, was confirmed using specific mAbs. Although H-type-1 determinant has been reported for H. pylori LPSs, this is the first report of the presence of H-type-2 determinant. Microarray analysis also revealed that plant lectins known to bind 4-linked GlcNAc chitin oligosaccharide sequences bound H. pylori LPSs. STL, which exhibited restricted and strong binding to 4GlcNAc tri- and pentasaccharides, differentially recognised the LPS from the strain CI-117. The chitin sequences recognised in the LPS could be internal, as no binding was detected to this LPS with WGA, known to be specific for nonreducing terminal of 4GlcNAc sequence. Analyses of the H. pylori LPSs by SDS-PAGE and Western blot with STL provided further evidence for the presence of these novel domains in the O-chain region of this LPS. H. pylori LPS microarray was also applied to analysis of two human sera. The first was from a case infected with H. pylori (H. pylori+ CI-5) and the second was from a non-infected control.The analysis revealed a higher IgG-reactivity towards H. pylori LPSs in the H. pylori+ serum, than the control serum. A specific IgG response was observed to the LPS isolated from the CI-5 strain, which caused the infection. The present thesis has contributed to extension of current knowledge on chemical structures of LPS from H. pylori clinical isolates. Furthermore, the H. pylori LPS microarray constructed enabled the study of interactions with host proteins and showed promise as a tool in serological studies of H. pyloriinfected individuals. Thus, it is anticipated that the use of these complementary approaches may contribute to a better understanding of the molecular complexity of the LPSs and their role in pathogenesis.